摘要
This paper investigates the second-order nonlinear multi-agent systems subject to the cluster-delay consensus.The multi-agent systems consist of leader and agents,whose dynamics are second-order nonlinear.The objective is that the agents track the leader asymptotically with different time delays,i.e.,the agents in different groups reach delay consensus,while the agents in the same group reach identical consensus.To guarantee the cluster-delay consensus for the second-order multi-agent systems,a new control protocol is proposed.Then some corresponding conditions for cluster-delay consensus are derived by using Lyapunov directed method and matrix theory.Finally,the effectiveness of the theoretical analysis results are verified by some numerical simulations.
基金
supported by the Fundamental Research Funds for the Central Universities under Grant No.2017JBM067
the National Natural Science Foundation of China under Grant Nos.61503016 and 61403019
the National Key Research and Development Program of China under Grant No.2017YFB0103202。
