Double-layer topology design based on physical communication network

In this paper, the information flow topology is regulated under the precondition that each agent can only utilize the information restricted by the physical communication channels. The objective topology is investigated under the framework of double-layer structures and is finally described by an optimal problem involving the eigenvalues on each layer. By introducing the element distance of eigenvector corresponding to the eigenvalues, the first layer in hierarchy is constructed, which furthermore induces the algorithm of double-layer topology design. Theoretical analysis and numerical simulations are provided to demonstrate the validity of the developed algorithms.