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Mathematical Problems in Engineering
Volume 2015, Article ID 810950, 6 pages
Research Article

Robust Leaderless Consensus of Uncertain Multiagent Systems with Fast Switching Topologies

Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China

Received 18 June 2015; Revised 28 August 2015; Accepted 12 October 2015

Academic Editor: Yuan Fan

Copyright © 2015 Wei Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the robust leaderless consensus problem of uncertain multiagent systems with directed fast switching topologies. The topologies are assumed to jointly contain a directed spanning tree. Based on a special property of the graph Laplacian matrix, the consensus problem is converted into a stabilization problem by performing a proper variable transformation. Averaging method is employed for analysis. It is proved that if the topologies switch sufficiently fast and the controllers are properly designed, the robust leaderless consensus can still be achieved even when all the possible topologies are unconnected in the switching time intervals. Finally, a numerical simulation is provided to illustrate the effectiveness of the theoretical results.