Uniform synchronization in multi-agent systems with switching topologies

This paper deals with uniform synchronization analysis of multi-agent systems with switching topologies. The agents are assumed to have general, yet identical, linear dynamics. The underlying communication topology may switch arbitrarily within a finite set of admissible topologies. We establish conditions under which the network is uniformly synchronized meaning that synchronization is valid under all possible switching scenarios. The primary conditions established are in terms of a pair of Lyapunov strict inequalities. Following those conditions, small gain and passivity types of conditions are proposed under which uniform synchronization is guaranteed. The proposed results are also extended to the case of observer-based protocols. Copyright (c) 2015 John Wiley & Sons, Ltd.