Novel Controller Design and Stability Analysis for Nonlinear multi-agent systems with Time-Varying Dynamics

This paper addresses the consensus problem of nonlinear multi-agent systems with fixed parameter switching. The quantity limited controller solves the problem that the traditional mode-dependent controller cannot be used when the number of modes does not match the controller. In addition, one-side Lipschitz conditions are used to bound the nonlinear terms in the system, reducing the conservatism of the analyzed system. Finally, the sufficient conditions for the existence of the controller are given in the form of LMI, and the validity of the theoretical results is verified by numerical simulations.