Coordination Control for a Class of Multi-Agent Systems Under Asynchronous Switching

  • Xiaodan Zhao
  • Wenhui LiuEmail author
  • Chunjie Yang


This paper studies the coordination control of nonlinear multi-agent systems under asynchronous switching, including consensus, tracking control, and containment. The asynchronous switching considered here means that the switching of the controller lags behind the mode’s switching for each agent. So the matched controller is interrupted by the delayed switching. For the situation, the authors give some new results by applying the conventional distributed control protocol. The authors show that all agents can achieve consensus. Secondly, the authors show that all followers can track the actual leader. Thirdly, the authors show that all followers will converge to the convex hull spanned by the dynamic leaders as time goes on. Numerical simulations are also provided and the results show highly consistent with the theoretical results.


Asynchronous switching consensus containment coordination control switched systems tracking control 


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Copyright information

© Institute of Systems Science, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.College of AutomationHangzhou Dianzi UniversityHangzhouChina
  2. 2.Big Date Decision InstituteJinan UniversityGuangzhouChina
  3. 3.College of Control Science and EngineeringZhejiang UniversityHangzhouChina

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