Robust Consensus Tracking of Heterogeneous Multi-Agent Systems under Switching Topologies

Abstract

In this paper, we consider a robust consensus tracking problem of heterogeneous multi-agent systems with time-varying interconnection topologies. Based on common Lyapunov function and internal model techniques, both state and output feedback control laws are derived to solve this problem. The proposed design is robust by admitting some parameter uncertainties in the multi-agent system.