Distributed Nonlinear Control of Multi-Agent Systems with Switching Topologies

Tengfei Liu, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


This paper studies the distributed nonlinear control of multi-agent systems with switching topologies for output agreement. A novel cyclic-small-gain approach is proposed. The crucial idea is to introduce a new dynamic mechanism to process the exchanged information between the agents, and to transform the distributed control problem into a stabilization problem for a dynamic network composed of input-to-output stable (IOS) subsystems. The desired distributed controller is designed based on IOS and cyclic-small-gain techniques. More interestingly, it is shown that the proposed method can be extended to distributed control design in the presence of disturbances.

Original languageEnglish (US)
Pages (from-to)75-81
Number of pages7
JournalUnmanned Systems
Issue number1
StatePublished - Jan 1 2016


  • Distributed control
  • cyclic-small-gain method
  • nonlinear systems
  • output agreement
  • switching topologies

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Control and Optimization


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