Abstract In this paper, motivated by the need for distributed control of multi-agent networks consist of switched affine systems, a distributed leader following consensus controller is developed. Different from most existing methods with affine control multi-agent systems, switched affine multi-agent systems face additional difficulties in the analysis and control, meanwhile affine diffusive coupling consensus algorithms are not applicable. So, in this paper switching signal is considered as the only control mechanism. Two consensus algorithms are proposed based on min-switching control and a new distributed embedded pulse width modulation (PWM) technique, in which local and neighbors output feedback are used to construct control input via an adaptive observer. Proposed observer-based distributed adaptive switching strategies guarantee stability of the overall network in the presence of uncertain affine term. Finally, proposed distributed control algorithms are verified by simulation of a switched affine multi-agent system.

中文翻译：

---

不确定切换仿射多智能体系统的分布式自适应切换控制

摘要 在本文中，出于对由切换仿射系统组成的多代理网络的分布式控制的需要，开发了一种遵循共识控制器的分布式领导者。与大多数现有的仿射控制多智能体系统方法不同，切换仿射多智能体系统在分析和控制方面面临额外的困难，同时仿射扩散耦合一致性算法不适用。因此，在本文中开关信号被认为是唯一的控制机制。提出了两种基于最小开关控制和新的分布式嵌入式脉宽调制 (PWM) 技术的一致性算法，其中本地和邻居输出反馈用于通过自适应观测器构建控制输入。提出的基于观察者的分布式自适应切换策略在存在不确定仿射项的情况下保证了整个网络的稳定性。最后，通过仿真切换仿射多代理系统来验证所提出的分布式控制算法。