Adaptive clustering of multi-agent systems

In this paper, we deal with adaptive multi-agent systems and analyze a phenomenon, clustering of the agents´ behavior. The multi-agent system is composed of two leaders and their followers equipped with distributed adaptive controllers, where the leaders send their outputs to the neighbors and the followers exchange their outputs each other. We introduce a class of distributed adaptive control schemes and rigorously show that clustering of the agents is locally asymptotically stable under some conditions.