Hierarchical Consensus of Multi-Agent Systems Based on Community Decomposition

The convergence speed of multi-agent system is a focused issue in the consensus problem. The traditional consensus algorithm is generally discussed on the single-layer topology. The spectral partitioning algorithm of the complex network and NF algorithm was applied to the optimal decomposition problem of the multi-agent topology and a hierarchical consensus algorithm based on the community decomposition was proposed in this paper. By converting the single-layer consensus problem of the multi-agent system to multi-layer consensus problem, the convergence speed is effectively improved on the premise of maintaining the original topology constraints. The effectiveness of two types of algorithms is demonstrated by simulations compared with the classic model. Then the comparison between the spectral partitioning method and NF algorithm applied to the optimal decomposition problem is proposed.