Guaranteed cost consensus for multi‐agent systems with switching topologies

Abstract

Summary Firstly, guaranteed cost consensus for multi‐agent systems is introduced based on state errors among neighboring agents and control inputs of all agents, where a tradeoff between the consensus regulation performance and the control effort is considered. Then, a sufficient condition for guaranteed cost consensus is given by the state‐space decomposition approach and the Lyapunov method, where an upper bound of the cost function is determined and an approach is proposed to determine the control gain. It is worth mentioning that the criterions for guaranteed cost consensus are only dependent on the maximum eigenvalue of the Laplacian matrices of switching topologies. Finally, numerical simulations are given to demonstrate theoretical results. Copyright © 2014 John Wiley & Sons, Ltd.