Abstract
The cluster consensus problem of high-order multi-agent systems is considered in this note with an observer-based control scheme. Sufficient condition for cluster consensus is presented in terms of easily checkable algebraic topology criterion. It is found that intra-cluster balanced topologies with antisymmetric (i.e., bidirectional and opposite signed) inter-cluster links promote cluster consensus, irrelevant of the magnitudes of intra-cluster coupling weights. The effectiveness of the theoretical results is illustrated by a numerical example.
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