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Cooperative control of multi-agent system has been extensively discussed for groups with single-layer topology. This paper is unfolded from the problem of consensus and discusses how to decompose a single-layer topology into layers of connected subgraphs to improve the cooperative performance of group. A hierarchical decomposition algorithm is developed to split the topology into hierarchy. On the...
This paper aims to study the consensus problem for high-order-integrator multi-agent systems. A consensus protocol is proposed, which only depends on the agent's own partial information and its neighbors' partial information, that is, the global information of agents and the full information of its neighbor are no need to be available. Some necessary lemmas were firstly presented, and then under the...
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