Quasi-Consensus of Heterogeneous-Switched Nonlinear Multiagent Systems.

In this paper, the quasi-consensus problem is investigated for a class of heterogeneous-switched nonlinear multiagent systems, in which both cooperation and competition interactions are considered simultaneously. By means of the Lyapunov function method, we show that quasi-consensus can be ensured for switched multiagent systems under the assumption that the activation time of cooperation interactions is sufficiently large. Moreover, a new Lyapunov function is considered to provide the lower and upper bounds of switching intervals explicitly. Thus, these bounds can be used to obtain less conservative stability results of switched systems. Furthermore, the established results are specialized to both the traditional consensus case and the stability of linear-switched systems. Finally, simulations are given to illustrate the theoretical results derived in this paper.