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This study studies the exponential state consensus problem for hierarchical multi-agent dynamical systems with switching topology and inter-layer communication delay. A Lyapunov function is introduced to quantify the total disagreement among the nodes of a hierarchical multi-agent system. By using the stability theory of switched system and graph theory of hierarchical network topology, delay dependent...
This paper deals with a hierarchical consensus problem in large scale systems. We first define the hierarchical consensus and propose a fairly general model of the system. We then define the interconnection matrix which expresses interconnection property between layers, where we focus on the rank of this matrix. In order to examine the relationship between the rank of interconnection matrix and stability...
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