Consensus of output-coupled linear multi-agent systems under fast switching network: Averaging approach

This study addresses the problem of consensus of multi-agent systems, consisting of a set of identical MIMO LTI systems, under a time-varying network that has a well-defined average (with uniform convergence to the average). The information delivered through the communication network is the output of each system. First, it is shown that consensus is reached asymptotically by using a group of compensators if the network switches sufficiently fast and the compensators are designed such that the multi-agent system asymptotically achieves consensus for the average of the network. Further, we find a relation between the two agreements, one obtained from considering the switching network and the other obtained from replacing the network with its average. Then, for a class of minimum phase systems, we remove the fast switching condition by redesigning the compensators. Finally, the formation stabilization of unicycle-type mobile robots is dealt with as an application of the problem, and it is demonstrated via a computer simulation.