Leader-following Cluster Consensus in Multi-agent Systems with Intermittence

In this paper, the cluster consensus problem of first-order nonlinear multi-agent systems with aperiodic intermittent communication is studied through pinning leader-following approach. The pinning consensus algorithm based on the relative local intermittent information is designed according to the varies linking ways of clustered network structure. New notions of leading intermittence and inter-cluster intermittence which related to the intermittent linking ways of leader-following clustered structure are developed, and several new systems with intermittence are established due to the new notions. Besides, dynamics with inherent delay are also considered to extend our results to a more general framework. The original communication graph without intermittent pattern is supposed to be directed and weakly connected. Some consensus criteria are derived to guarantee that the cluster consensus problem for the systems with intermittent communication can be solved. Finally, numerical simulations are given to illustrate the effectiveness of the theoretical results.