Coordinated Control of Multi-agent Dynamical Systems under Switched Network Topology

Abstract

This paper considers a group of mobile agents moving in Euclidean space with switched network topology. We propose a feedback control algorithm that achieves velocity consensus with weighted directed switched velocity graph and stabilize all position neighboring agents inter-distance to a same desired value. The main results are that the position and velocity graph remaining connected are satisfied at all times, then desired flocking motion can always be realized. Furthermore, if the initial energy of the system is less than a certain value, then collision can be avoided.