Consensus of switched multi-agent systems

In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent systems, we propose a linear consensus protocol for switched multi-agent system. Based on the graph theory and Lyapunov theory, we prove that the consensus of switched multi-agent system is solvable under arbitrary switching with undirected connected graph, directed graph and switching topologies, respectively. Simulation examples are also provided to demonstrate the effectiveness of the theoretical results.