Robust node-to-node consensus of linear multiagent systems with directed switching topologies subject to uncertain pinning communications

This paper is focused on the node-to-node consensus problem of multiagent systems consisting of general linear node dynamics under directed switching topologies. Specifically, it is assumed that the multiagent systems under consideration have 2 layers, ie, leader layer and follower layer. When uncertainties on the pinning links between the 2 layers exist, the coordination goal is to present some robust control laws, which are distributed such that the states of each follower asymptotically converge to those of its corresponding leader. By using tools from M-matrix theory and multiple Lyapunov methods, some sufficient criteria are derived to achieve this goal. Finally, 2 simulation examples are performed to validate the effectiveness of the theoretical results