Cluster Lag Consensus for Second-Order Multiagent Systems with Nonlinear Dynamics and Switching Topologies

Aiming to solve the cluster lag consensus (CLC) problem of networked nonlinear agents with a switching topologies, this paper proposes a control algorithm based on the measurements of position and velocity. When the network has several clusters of agents, under the conditions that each cluster is a strongly connected digraph including isolated agents, and at least one agent in each cluster can communicate with the common leader each time, a sufficient condition is derived for reaching CLC. Finally, a numerical simulation is demonstrated to validate the proposed control algorithm and the developed conditions.