Discontinuous cooperative control for consensus of multiagent systems with switching topologies and time-delays

In this paper, we propose a discontinuous cooperative control for consensus of multiagent systems with directed and switching sensing/communication topologies and time-delays. By introducing a new design for nonlinear cooperative control gains, multiagent system consensus can be guaranteed in the presence of switching topologies and time-delays. System convergence analysis is done by employing a new contraction mapping method. Simulation examples are provided to illustrate the effectiveness of the proposed design.