Distributed Asynchronous Consensus Control for Nonlinear Multiagent Systems under Switching Topologies

This paper addresses the distributed asynchronous consensus problem for nonlinear multiagent systems with switching directed topologies. Different from existing results, we consider the detection delay of topology modes and some topologies having no the directed spanning tree with leader as the root. In these conditions, the distributed asynchronous switched observer is first developed for each follower to accurately estimate the state information of the leader. Then, the smooth distributed controller is designed for each follower by means of the switched observer. According to the Lyapunov stability theory, it is proved strictly that the controller can guarantee all agents achieving a consensus if these topologies are switched by a switching signal fulfilling the designed law. Moreover, the switching law compared with the one satisfying average dwell time condition can render the number of topology switches growing faster on any time interval. Finally, the numerical simulation is presented to verify the effectiveness of proposed theoretical results.