Exponential consensus for hierarchical multi-Agent systems with switching topology and inter-layer communication delay

Zhaoxia Duan, Guisheng Zhai, Zhengrong Xiang

Research output: Contribution to journalArticle

15 Citations (Scopus)


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 sufficient conditions are proposed to achieve the exponential hierarchical average consensus with the average dwell time of the switching law larger than a minimum bound. Illustrative examples are provided to verify the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)451-460
Number of pages10
JournalIET Control Theory and Applications
Issue number4
Publication statusPublished - 2016 Feb 26


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization

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