Consensus of second-order multi-agent system under average dwell-time switching topologies

The consensus of second-order multi-agent with undirected and switching topology is studied in the paper. Through the introduction of average dwell time, a switching law is presented. Under the switching law, the proof of consensus of multi-agent system is equivalent to the stability of switching linear system. A piecewise Lyapunov function is adopted to prove the stability of switching system. Numerical examples are given to illustrate the effectiveness of the proposed methods.