Flocking estimates for the Cucker–Smale model with time lag and hierarchical leadership

We analyze the Cucker–Smale model under hierarchical leadership in presence of a time delay. By using a Lyapunov functional approach and some induction arguments we will prove convergence to consensus for every positive delay τ. We also prove a flocking estimate in the case of a free-will leader. These results seem to point out the advantage of a hierarchical structure in order to contrast time delay effects that frequently appear in real...