In this chapter, the issue of achieving cluster consensusCluster consensus in a heterogeneous second-order leader-following multi-agent system (MAS) with nonlinear dynamics, actuator faults, and integral quadratic constraints (IQCs) is explored within a directed network topology. Two adaptive fault-tolerantFault-tolerant pinning control strategies are proposed, one with fixed pinning gains and the other with adaptive pinning gains, to ensure cluster consensusCluster consensus within a finite timeFinite time frame using only local topological information. An adaptive input compensation mechanism is introduced to counteract the negative effects of actuator faults, with the estimation of only a single parameter required for each agent, thereby reducing computational costs. Moreover, the use of pinning control, rather than a full control scheme, is shown to enhance the cost-effectiveness of the strategies for large-scale MASs.