Coordination for linear multiagent systems with dynamic interaction topology in the leader-following framework

This paper considers mainly the leader-following consensus for multiple agents with general linear system dynamics under switching topologies. Three different settings are systematically considered. We first consider the setting that the underlying interaction topologies switch arbitrarily among the possible weakly connected digraphs and then extend it to a more general setting that the weak connectivity of the interaction topologies is kept for some disconnected time intervals with short length due to the communication constraints among agents. Exponentially, consensus control is proved to be achieved, and the convergence rate can be specified as well for both settings in spite of the relaxed conditions on the system dynamics of each individual agent which even allow that each agent has exponentially unstable mode, while for the last case where the weak connectivity is only maintained on the joint of the interaction topologies, consensus control is proved to be achieved when the system matrix of each individual agent satisfies certain stability conditions.