A note on basic consensus problems in multi-agent systems with switching interconnection graphs

Guisheng Zhai, Chi Huang

Research output: Contribution to journalArticle

10 Citations (Scopus)


We consider several basic consensus problems in multi-agent systems with switching interconnection graphs, where the connections between any two agents are assumed bidirectional for notation simplicity. When the switching interconnection graphs are always connected, it has been shown in the literature that the Laplacian-based algorithm always achieves the average consensus. We first extend the discussion to the case where disconnected interconnection graphs are involved, by showing that the average consensus is still achieved if the dwell time ratio between connected graphs and disconnected ones satisfies a specified condition. Next, we consider the case where there is no connected graph but the combination of a set of graphs is connected, and propose two switching strategies for achieving the average consensus. Several numerical examples are provided to show the algorithms.

Original languageEnglish
Pages (from-to)631-639
Number of pages9
JournalInternational Journal of Control
Issue number3
Publication statusPublished - 2015 Mar 4



  • average consensus
  • connected graphs
  • disconnected graphs
  • multi-agent systems
  • switching interconnection graphs
  • switching strategy

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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