Passivity-based consensus for linear multi-agent systems under switching topologies

This paper studies the passivity-based consensus analysis and synthesis problems for a class of stochastic multi-agent systems with switching topologies. Based on Lyapunov methods, stochastic theory, and graph theory, new different storage Lyapunov functions are proposed to derive sufficient conditions on mean-square exponential consensus and stochastic passivity for multi-agent systems under two different switching cases, respectively. By designing passive time-varying consensus protocols,the solvability conditions for the passivity-based consensus protocol synthesis problem, i.e., passification, are derived based on linearization techniques. Numerical simulations are provided to illustrate the effectiveness of the proposed methods.