Cluster Lag Consensus for Second-Order Multiagent Systems with Nonlinear Dynamics and Switching Topologies
针对具有切换拓扑的非线性多智能体系统，提出一种基于位置和速度测量的控制算法，并给出实现簇滞后一致性的充分条件，最后通过数值仿真验证。
Aiming to solve the cluster lag consensus (CLC) problem of networked nonlinear agents with a switching topologies, this paper proposes a control algorithm based on the measurements of position and velocity. When the network has several clusters of agents, under the conditions that each cluster is a strongly connected digraph including isolated agents, and at least one agent in each cluster can communicate with the common leader each time, a sufficient condition is derived for reaching CLC. Finally, a numerical simulation is demonstrated to validate the proposed control algorithm and the developed conditions.