Consensus problem of multiagents with switching networks in state space

In this paper, we propose a linear consensus protocol for networked multiagents. Different from the other protocols proposed before, it uses a state space form which can take the dynamics of the agents into account in a natural way. To deal with switching communication topology, the whole group dynamics is regarded as a time-varying system. Directed networks and undirected networks are both covered by this protocol with only a mild requirement that the whole multiagents group is connectivity. For the convenient we give out a general design routine of the decentralized controller of each vehicle to achieve the consensus. Simulations are carried out at the end to demonstrate the effectiveness of this protocol.