Abstract
This brief investigates the multi-cluster consensus for heterogenous manned/unmanned aerial system with random link failure via pinning control method. Each cluster is composed of first-order and second-order dynamic models. A distributed control protocol is proposed to construct the weakly connected topology with restricted communication load in large-scale heterogenous aerial team. Based on the graph theory, matrix analysis and Lyapunov theorem, sufficient consensus conditions are derived. Numerical examples validate the theoretic results.
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