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

作　　者：HUANG Jun WEN Guoguang PENG Zhaoxia ZHANG Yunlong 

机构地区：[1]Department of Mathematics,Beijing Jiaotong University,Beijing 100044,China [2]School of Transportation Science and Engineering,Beihang University,Beijing 100191,China

出　　处：《Journal of Systems Science & Complexity》2020年第2期333-344,共12页系统科学与复杂性学报（英文版）

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。

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.

关 键 词：Cluster consensus multi-agent systems second-order nonlinear dynamics time delay 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]