Coordination of nonlinear multi-agent systems with multiple leaders and switching topologies

In this paper, we consider the coordination control of a group of autonomous agents to track the convex set determined by multiple moving leaders with unmeasurable velocities. Directed interconnection topologies of the follower agents are investigated for the convergence with the help of convex analysis and non-smooth analysis. With the nonlinear neighbor-based coordination rule, the tracking errors between the agents and the set formed by the leaders can be estimated even with uniformly jointly connected topology.