Centralized strategies applied to large-scale systems require a vast amount of computational and communication resources. In contrast to them, distributed strategies offer higher scalability and reliability. However, communication and coordination among agents tremendously impact performance of systems controlled in the distributed manner. The existing methods lead to clustering, where the coordination between agents is limited to groups of entities to be controlled. The size of these groups are usually known in advance. In turn, many systems exhibit self-organization and dynamically form clustering structure. In that sense, control methods should adapt to such dynamic structures offering the same balance between performance and communication/ computational demands. In this paper, we propose a new approach to complex system control based on efficient cluster (mesoscopic) control paradigm. We demonstrate its efficacy in scenarios, where a group of agents should reach a certain goal.