Successive lag cluster consensus on multi-agent systems via delay-dependent impulsive control
Qiu Xiao-Fen, Zhang Yin-Xing, Li Ke-Zan †
       

Trajectories of error systems of first-order multi-agent systems (5) with τ 1=0.7 and τ 2=0.1: (a) e i 1 , (b) e i 2 .