Set stability and coordination of nonlinear multi-agent systems with switching structure

In this paper, we discuss the aggregation of a group of autonomous agents related to a convex target set. The convergence of the whole agent group, consisting of leaders (informed agents) and followers, to a desired region is investigated with switching interconnection topologies described by the connectivity on [t,¿) for any time t. Set stability analysis is given with help of graph theory and non-smooth analysis, and moreover, sufficient conditions to achieve the coordination are proposed for some important cases. The results show that simple local rules can make the networked agents with first-order nonlinear individual dynamics converge to the target set.