Convergence Analysis of Consensus Algorithm Using Fixed and Switching Network For Multiagent System

This article describes designing and convergence common agreement protocol known as consensus among multiple agents. The algorithm is designed by considering continuous state space equations in matrix form. The agents shared their information over switching network. Two strongly connected ring communication graphs are considered. Analysis of the switching function impact on reaching consensus is done for two ring graphs. Stability of consensus algorithm is also proved by constructing common Lyapunov function for any arbitrary switching signal. The efficiency of proposed algorithm is implemented and tested using simulation