Cluster consensus of networks of second-order multi-agent systems with inter-cluster non-identical inputs

This paper studies the second order cluster consensus problem for a network of multi-agents. We consider general graph topologies including time variation. A comprehensive analysis is provided. For static topology case, we show that communications among agents and inter-cluster nonidentical inputs generically leads the system to second order cluster consensus. A common Lyapunov function is provided for time varying topologies case. Numerical simulation results demonstrate that the second order cluster consensus can be achieved using the proposed algorithms.