Cluster consensus of multi-agent systems with heterogeneous dynamics

Abstract

This paper studies the cluster consensus problem of heterogeneous linear multi-agent systems under fixed directed topology. Compared to existing results for cluster consensus problems, dynamics of all agents are allowed to be nonidentical, which promotes the application of the results. A state-feedback control protocol with a dynamic compensator is proposed to solve the problem. Output regulation technique is introduced to prove that the proposed control protocol is effective. A numerical simulations is provided to verify the effectiveness of the theoretical results.