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Cluster-Delay Consensus for Second-Order Nonlinear Multi-agent Systems

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Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Mathematics, Beijing Jiaotong University, Beijing, 100044, China

    Jun Huang, Guoguang Wen & Yunlong Zhang

  2. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, China

    Zhaoxia Peng

Authors
  1. Jun Huang
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  2. Guoguang Wen
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  3. Zhaoxia Peng
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  4. Yunlong Zhang
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Corresponding author

Correspondence to Guoguang Wen.

Additional information

This research was 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.

This paper was recommended for publication by Editor LIU Guoping.

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Huang, J., Wen, G., Peng, Z. et al. Cluster-Delay Consensus for Second-Order Nonlinear Multi-agent Systems. J Syst Sci Complex 33, 333–344 (2020). https://doi.org/10.1007/s11424-020-8174-4

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  • DOI: https://doi.org/10.1007/s11424-020-8174-4

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