Scaled consensus of switched multi-agent systems

Abstract

In this paper, the scaled consensus problem for switched multi-agent systems composed of continuous-time and discrete-time subsystems is investigated. By using the nearest neighbour-interaction rules, three types of scaled consensus protocols are presented to achieve asymptotic, finite-time and fixed-time convergence rates, respectively. Based upon algebraic graph theory and Lyapunov theory, scaled consensus is shown to be reached for strongly connected networks. We explicitly express the final consensus states as some initial-condition-dependent values. Three scaled formation generation problems with different convergence rates are introduced and solved as generalizations. Simulation examples are provided to validate the effectiveness and availability of our theoretical results.