Leader-follower consensus for multi-agent systems with Lipschitz-type node dynamics and jointly connected dynamical topology

Leader-follower consensus is addressed in this paper for multi-agent systems with Lipschitz-type node dynamics and jointly connected dynamical topology. The main contribution of this works is to solve the leader-follower consensus problem with the general assumption that the network topology is specifically given and connected being removed. By considering the underlying communication graph for dynamic interaction topology, a bounded condition of consensus speed is proposed. By considering a combination of state information of follower and leader agents, a class of leader-follower consensus protocol is designed with the appropriate consensus speed. By appropriately constructing Lyapunov function, it is proved that the leader-follower consensus for the closed-loop multi-agent systems with Lipschitz-Type node dynamics and jointly connected dynamical topology can be achieved with carefully selected feedback gain matrix. Finally, one simulation example is presented to verify the proposed approach and demonstrate its effectiveness.