The Topology Optimization Rule for Multi-Agent System Fast Consensus

In recent years, the research of multi-agent system consensus as the basis of cooperative control has developed rapidly. The convergence speed of consensus is an important indicator to measure the consensus algorithm for the multi-agent system, which attracts increasing scholars' attention. In this paper, the idea of community decomposition is introduced to the problem of the convergence speed of consensus, and a topology optimization rule based on community decomposition is proposed. Firstly, we decompose the original topology. Secondly, we clarify the hub nodes of the decomposed topology. Lastly, we optimize the original topology via the proposed topology optimization rule, and give the simulations verification.