Fully distributed consensus for high-order strict-feedback nonlinear multiagent systems with switched topologies

Abstract

This paper studies the distributed consensus problem of high-order strict-feedback nonlinear multiagent systems.By employing the adaptive backstepping technique and switched system theory, a novel protocol is proposed for MASs with switched topologies.Global information such as the number of agents and communication topology is not used.In addition, the communication topology between agents can be switched between possible topologies at any time.Based on the Lyapunov function method, the proposed adaptive protocol guarantees the complete consensus of multiagent systems without restricting the dwell time of the switched signal.Finally, two numerical examples are provided to illustrate the effectiveness and advantages of the given protocol.