Consensus of Switched Multiagent Systems

In this brief, we consider the consensus problem of a switched multiagent system composed of continuous-time (CT) and discrete-time (DT) subsystems. By combining the classical consensus protocols of CT and DT multiagent systems, we propose a linear consensus protocol for switched multiagent system. Based on the graph theory and the Lyapunov theory, we prove that the consensus of switched multiagent system is solvable under arbitrary switching with undirected connected graph, directed graph, and switching topologies, respectively. Simulation examples are also provided to demonstrate the effectiveness of the theoretical results.