Distributed Consensus with Multiple Equilibria in Continuous-Time Multi-Agent Networks under Undirected Topologies*

As the networks get more complex nowadays with many interconnected components, it is necessary to develop distributed scalable algorithms so as to minimize the computation required in decision making in such large scale systems. In this context, this paper addresses the problem of multiple equilibrium consensus of multi-agent systems in undirected networks having fixed or switching topologies. The convergence analysis is based upon algebraic graph theory and switched system theory. Finally, some numerical examples are given to illustrate the theoretical results.