Pinning Control of Multi-agent Systems with Periodical Switching Topology

This paper focuses on the pinning synchornisation problem of complex networks with periodical switching topology. We show that without assuming each possible topology contains a spanning tree, the system can achieve synchornisation if the combination of them can form a complete graph that has a spanning tree. The condition of synchonisation behaviour is analysed by constructing a Lyapunov function and averaging theory. Also, a practical application of an unmanned aerial vehicle system is provided for validation. Finally, the impacts of switching patterns of topology on the switching interval threshold are analysed via numerical simulations.