Consensus in Networks of Agents With Unknown High-Frequency Gain Signs and Switching Topology

The agreement control problem of single and double-integrator agents with unknown and nonidentical control directions is addressed in this note under switching network topology. Distributed nonlinear PI control laws are proposed which ensure asymptotic consensus among the agents based on a new bound-edness lemma and a generalized version of Barbalat's lemma for uniformly piecewise right continuous functions. Theoretical results are verified by simulation studies.