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A hierarchical control approach for average consensus over heterogeneous multi-agent systems

In this paper, an abstraction-based hierarchical distributed control framework was formulated and applied to output average consensus control of heterogeneous multi-agent systems. First, a network of simpler systems were built with the help of abstraction techniques. In such a way, the complexity coming from heterogeneous dynamics of agents was decoupled from that of the coordination task and the communication topologies. By solving the average consensus problem of those abstractions, the control protocol for physical agents were synthesized in a hierarchical way. An example was given to show its effectiveness.