中文摘要：

针对具有不同拓扑的2个多智能体网络系统的聚类-滞后一致性问题,通过设计合适的控制协议,并运用Lyapunov稳定性理论、图论和矩阵理论,得到使这2个多智能体网络系统实现聚类-滞后一致的充分条件,并把所得结果推广到多个多智能体网络的情形。数值模拟验证了算法的正确性。

英文摘要：

Aiming at the prohlem of cluster-delay consensus between two multi agent network systems with different topolog ical structures, some appropriate control protocols are designed anti Lyapunov stability theory, graph theory and matrix the ory are used, several sufficient conditions are presented to guarantee the realization of cluster delay consensus. Then the re sults are extended to the system with more than two multi agent network systems. Numerical simulation results demon strate that the algorithm is right and effective.