Distributed control of cluster lag consensus for first-order multi-agent systems on QUAD vector fields |
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| Authors: | Yi Wang Zhongjun Ma Guanrong Chen |
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| Institution: | 1. School of Data Sciences, Zhejiang University of Finance and Economics, Hangzhou 310018, China;2. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China;3. Guangxi Key Laboratory of Trusted Software, Guilin University of Electronic Technology, Guilin 541004, China;4. Department of Electronic Engineering, City University of Hong Kong, Hong Kong, China |
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| Abstract: | 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. |
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| Keywords: | Corresponding author at: School of Data Sciences Zhejiang University of Finance and Economics Hangzhou 310018 China |
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