On distributed cluster consensus for multiple double-integrator agents

This paper investigates the consensus for multiple interacting clusters of double-integrator agents under two different frameworks, viz, the framework that all agents share the same position and velocity interaction topology and the framework that the position and velocity topologies are modeled by totally independent graphs. Different cluster consensus algorithms are designed and analyzed accordingly. A consistent structural result is shown for both frameworks that cluster consensus can be reached if the interaction topologies satisfy some connectivity assumptions and further, compared to the interactions among different clusters, the interactions within each cluster are sufficiently strong. Some lower bounds for such strengths are specified as well.