Reachable set estimation of multiagent systems : an approximate consensus perspective

This article is concerned with the estimation of a reachable set for leaderless multiagent systems (MASs) under fixed topology with bounded disturbances and nonzero initial conditions. In-neighbors' information is collected to design the protocol such that all agents' state trajectories are constrained within a compact set, and asymptotic consistency is regulated for disturbance-free MASs in the exponential stability sense, while approximate consistency is regulated for noise-disturbed MASs in the input-to-state stability sense. The agreement dynamics are characterized by the consensus function with a determined initial condition, whose estimated reachable set has a nonempty intersection with that of MAS. The analytical framework is also applied to Markovian topology switching subject to completely and partially known transition rates. Numerical simulations confirm the theoretical results.