Practical Synchronization for Switched Multi-Agent Systems Under Nonvanishing Impulses

The practical synchronization problem for switched multi-agent systems (MASs) under nonvanishing impulses is studied, where switchings both take place in network topology and agent self-dynamics. In order to deal with the problem of asynchrony between the switching of network topologies and the switching of agent self-dynamics as well as always disconnected network topologies, a dynamic controller embedded with a virtual reference system is proposed. In consideration of nonvanishing impulses for switched MASs, a sufficient piecewise average dwell time (ADT) condition for global uniform practical stability is established which ensures the ultimate bounded synchronization. Finally, a simulation example is provided to illustrate the theoretical results.