Application of Directed Topology Decomposition in Consensus Problem

This paper studies the application of the topology decomposition technique in consensus of multi-agent systems. First, the directed communication topology is represented in the form of cascade connections of strongly connected subgraphs via structure decomposition. Then, based on this property and by means of the input-to-state stability theory, a novel approach is proposed to design consensus protocols. Moreover, the effects of the topology structure and weights on consensus are also discussed with the aid of the topology decomposition. Finally, the simulation result is provided to demonstrate the application of the proposed method.