Zahra Yaghoubi and Heidar A. Talebi
Robust cluster consensus, general high-order multi-agent system, fractional-order system, dynamic uncertainty
In this paper, the robust cluster consensus problem of fractional-order multi-agent systems with uncertain nonlinear dynamics is studied. The multi-agent systems are weakly heterogeneous because they have identical nominal dynamics with different norm-bounded parameter uncertainties. Linear matrix inequality (LMI), graph, Lyapunov stability theories and Mittag-Leffler function are used to achieve robust cluster consensus. Finally, the simulation examples are presented for the general form multi-agent systems, i.e., a single-link flexible joint manipulator that demonstrates the efficiency of the proposed controller.
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