Distributed control of cluster lag consensus for first-order multi-agent systems on QUAD vector fields

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Pages (from-to)7335-7353
Journal / PublicationJournal of the Franklin Institute
Issue number15
Online published23 Aug 2018
Publication statusPublished - Oct 2018


This paper addresses the problem of cluster lag consensus for first-order multi-agent systems which can be formulated as moving agents in a capacity-limited network. A distributed control protocol is developed based on local information, and the robustness of the protocol is analyzed by using tools of Frobenius norm, Lyapunov functional and matrix theory. It is shown that when the root agents of the clusters are influenced by the active leader and the intra-coupling among agents is stronger enough, the multi-agent system will reach cluster lag consensus. Moreover, cluster lag consensus for multi-agent systems with a time-varying communication topology and heterogeneous multi-agent systems with a directed topology are studied. Finally, the effectiveness of the proposed protocol is demonstrated by some numerical simulations.