Consensus of multi-agents in switching networks using input-to-state stability of switched systems

Solvability of a consensus problem for multi-agent systems in switching networks heavily relies on stabilization techniques for switched systems. The consensus problem becomes challenging when the agent dynamics are complicated that require stability of a switched system composed of unstable subsystems. Moreover, complicated dynamics bring other coupling structures into a switched system. To solve the consensus problem in such a scenario, we study the input-to-state stability property of a switched system with external influence and hence design a stabilization controller for a switched system of interconnected components using the small gain theorem. The controller successfully leads to the solution to the consensus problem for a class of nonlinear, heterogeneous, and uncertain multi-agent systems in switching networks with jointly connected topology.