Robust output agreement of multi-agent systems with flexible topologies

This paper studies the robust output agreement problem for second-order multi-agent systems with flexible topologies subject to measurement disturbances. A new distributed control law is proposed to guarantee the robust output agreement in the sense of input-to-state stability (ISS) as long as the union of the interconnection graphs satisfies a standard connectivity condition. It is proved that, robust output agreement can be achieved in the presence of any bounded measurement disturbances if the functions of the distributed control laws are radially unbounded, and a local result can still be guaranteed if the condition of radial unboundedness is not satisfied. Numerical simulations are employed to show the effectiveness of the main result.