Distributed Average Aracking for Heterogeneous Nonlinear Multiagent Systems with Switching Network Topologies *

This paper addresses the distributed average tracking problem for heterogeneous nonlinear multiagent systems under switching network topologies. A systematic algorithm is proposed, integrating a distributed filter and a control input and managing topology variations through an average dwell time approach. Local filters continuously estimate reference signal averages, then control law drives agent’s state to synchronize with their respective filter state. Sufficient conditions are established to achieve average tracking with switching networks, where chattering artifacts are effectively suppressed while tracking precision is maintained.