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

Trajectories of position variables of second-order multi-agent systems (30) with τ 1=0.01 and τ 2=0.005: (a) x i 1 , (b) x i 2 .