Consensus of output-coupled linear multi-agent systems under frequently connected network

Abstract

This paper studies the problem of consensus for linear multi-agent systems under a frequently connected communication network. All the agents, which have identical MIMO linear dynamics, can be of any order and only the output information of each agent is delivered through the communication network. To tackle the problem we first present a necessary and sufficient condition for achieving the consensus under the fixed network topology. After that, a sufficient condition for the problem is provided under the circumstances of frequently connected network topology. The key idea is the average dwell-time and its use in stability theory.