@ARTICLE{Yaghoubi_Zahra_Cluster_2019, author={Yaghoubi, Zahra and Talebi, Heidar Ali}, volume={vol. 29}, number={No 4}, pages={643-665}, journal={Archives of Control Sciences}, howpublished={online}, year={2019}, publisher={Committee of Automatic Control and Robotics PAS}, abstract={In this paper cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics via adaptive sliding mode controller. First, cluster consensus for fractional-order nonlinear multi agent systems with general formis investigated. Then, cluster consensus for the fractional-order nonlinear multi agent systems with first-order and general form dynamics is investigated by using adaptive sliding mode controller. Sufficient conditions for achieving cluster consensus for general fractional-order nonlinear multi agent systems are proved based on algebraic graph theory, Lyapunov stability theorem andMittag-Leffler function. Finally, simulation examples are presented for first-order and general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.}, type={Artykuły / Articles}, title={Cluster consensus of general fractional-order nonlinear multi agent systems via adaptive sliding mode controller}, URL={http://czasopisma.pan.pl/Content/114627/PDF/ACS-2019-4-5.pdf}, doi={10.24425/acs.2019.131230}, keywords={nonlinear multi agent systems, cluster consensus, fractional-order systems, adaptive sliding mode controller}, }