Cluster Consensus of Nonlinearly Coupled Multi-Agent Systems in Directed Graphs

We investigate the cluster consensus problem in directed networks of nonlinearly coupled multi-agent systems by using pinning control. Depending on the community structure generated by the group partition of the underlying digraph, various clusters can be made coherently independent by applying feedback injections to a fraction of the agents. Sufficient conditions for cluster consensus are obtained using algebraic graph theory and matrix theory and some simulations results are included to illustrate the method.     

Tracking Consensus for Second-Order Multi-Agent Systems with Nonlinear Dynamics in Noisy Environments

This paper investigates the leader-following tracking consensus problem for second-order multi-agent systems with time delays and nonlinear dynamics in noisy environments on the conditions of fixed and switching directed topologies. Based on a novel velocity decomposition technique and stochastic analysis, a measurement-based distributed tracking control protocol is proposed, under which all agents can track the leader in mean square. Simulation results are also given to illustrate the effectiveness of the proposed protocol.     

Cluster consensus of second-order multi-agent systems via pinning control

This paper investigates the cluster consensus problem for second-order multi-agent systems by applying the pinning control method to a small collection of the agents.Consensus is attained independently for different agent clusters according to the community structure generated by the group partition of the underlying graph and sufficient conditions for both cluster and general consensus are obtained by using results from algebraic graph theory and the LaSalle Invariance Principle.Finally,some simple simulations are presented to illustrate the technique.