Consensus of Switched Multiagent Systems under Relative State Constraints

The consensus problem is presented for the switched multiagent system (MAS), where the MAS is switched between continuous- and discrete-time systems with relative state constraints. With some standard assumptions, we obtain the fact that the switched MAS with relative state constraints can achieve consensus under both fixed undirected graphs and switching undirected graphs. Furthermore, based on the absolute average value of initial states, we propose sufficient conditions for consensus of the switched MAS. The challenge of this study is that relative state constraints are considered, which will make the consensus problem much more complex. One of the main contributions is that, for the switched MAS with relative state constraints, we explore the solvability of the consensus problem. Finally, we present two simulation examples to show the effectiveness of the results.

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