Lyapunov-based approach to multiagent systems with switching jointly connected interconnection

This note addresses a coordination problem of a multiagent system with jointly connected interconnection topologies. Neighbor-based rules are adopted to realize local control strategies for these continuoustime autonomous agents described by double integrators. Although the interagent connection structures vary over time and related graphs may not be connected, a sufficient condition to make all the agents converge to a common value is given for the problem by a proposed Lyapunov-based approach and related space decomposition technique.