  Some of the issues associated with the practical applications of consensus of
multi-agent systems (MAS) include switching topologies, attrition and inclusion
of agents from an existing network, and model uncertainties of agents. In this
paper, a single distributed dynamic state-feedback protocol referred to as the
Robust Attrition-Inclusion Distributed Dynamic (RAIDD) consensus protocol, is
synthesized for achieving the consensus of MAS with attrition and inclusion of
linear time-invariant higher-order uncertain homogeneous agents and switching
topologies. A state consensus problem termed as the Robust Attrition-Inclusion
(RAI) consensus problem is formulated to find this RAIDD consensus protocol. To
solve this RAI consensus problem, first, the sufficient condition for the
existence of the RAIDD protocol is obtained using the $\nu$-gap metric-based
simultaneous stabilization approach. Next, the RAIDD consensus protocol is
attained using the Glover-McFarlane robust stabilization method if the
sufficient condition is satisfied. The performance of this RAIDD protocol is
validated by numerical simulations.
