Switching hierarchical network based consensus algorithm research

Motivated by natural pigeon flocks, a new directed topology, switching hierarchical network, was proposed to solve the consensus error of multi-agent system. It was proved that the proposed hierarchical network converges faster than leader-following network been used widely. Analyzing the consensus error generated when the network tracks a mobile target, it is showed that there is a limitary in the consensus error, the error is related to the state of target and the second smallest eigenvalue of the network Laplacian. Some problems about the consensus error based on switching hierarchical network are analyzed. The theoretic validity of the proposed switching hierarchical network is validated with simulation.