Leader-following Consensus Control of Multi-agent Systems with Node Dynamic Join Characteristics

This paper focuses on the leader-following consensus problem of linear multi-agent systems (MASs). Usually the MAS is considered as a fixed topology without considering the changes of agent's state. In practice, however, agents often have a strong mobility. In this case, the MAS suffers from inconsistency after the entry and departure of agents. In this paper, we design the control scheme of each agent to achieve state consensus by using local information and analyze the leader-following consensus problem in the case of agent node dynamically joining in the original network topology, and information exchange between the agents can be described by the network topology. The control method of MAS, with agent node dynamic join characteristics, is designed based on algebraic graph theory and Lyapunov theory. Simulation results show the validity and effectiveness of the algorithms.