Average dwell-time conditions of switching information topologies for consensus of linear multi-agent systems

In this paper, we study the consensus problem of linear multi-agent systems (LMAS) in directed networks with switching information topology. The consensus problem is transformed into the partial stability problem of a corresponding auxiliary system by a linear transformation. For a pre-given set of topologies, We address two cases: 1) The LMAS achieves the consensus under each fixed information topology in this set; 2) The LMAS achieves the consensus under some information topologies in this set. For both cases, we present sufficient conditions that sustain the consensus of the LMAS with switching topology under an average dwell time scheme, respectively. Simulation results are also given to demonstrate the effectiveness of the theoretical results.