Consensus of Hierarchical Networked Euler-Lagrange System

In this paper, a hierarchical algorithm is introduced for networked Euler-Lagrange systems. Agents are first divided into groups. Afterwards, these groups are considered as agents in the upper layer, and the consensus problem is addressed. This scheme is certainly useful for large scale systems due to the fact that a large task can be delegated to groups of agents. Finally, the findings of this paper are validated through numerical simulations.