Cluster consensus tracking of multi-agent systems with reference velocities

We investigate a cluster consensus tracking prob-lem of multiple agents. For a given reference velocity, dis-tributed protocols are designed to solve the consensus tracking to the reference velocity for second-order multi-agent systems with directed information exchanges. By applying the Lyapunov function method, some sufficient conditions are derived to guarantee the consensus tracking of the velocities. Finally, two simulations are given to verify the effectiveness of theoretical results.