Abstract

This paper studies the leader following consensus of cloud-based multi-agent systems under switching topologies. Firstly, a cloud-based control framework is proposed, in which each agent can upload and download data from the cloud through communication channels and communication tolopolgies among neighbors are switching. Based on the proposed cloud control framework and switching topology model, a cloud-based distributed consensus protocol is proposed. By using switching theory approach, sufficient conditions are provided to ensure that consensus tracking can be achieved. Moreover, the existence of controller gain matrices can be guaranteed by solving LMI. Finally, a simulation example is given to verify the theoretical results.

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