Consensus control of linear multi-agent systems under directed dynamic topology

This paper aims to extend the nonnegative matrix theory, which is widely employed for multiple integrator agents, to deal with the consensus control of generic linear multi-agent systems (MASs) under directed dynamic topology. It is finally shown that the exponential consensus can be reached under very relaxed conditions, i.e., the directed interaction topology is only required to be repeatedly jointly rooted and the exponentially unstable mode of each individual system is weak enough. Moreover, a least convergence rate and a bound for the unstable mode of the individual agent system, both of which are independent of the switching mode, can be explicitly specified.