I. Introduction
During the last two decades, the research of multi-agent systems has received a surge of attention of researchers from different disciplines and has been extensively investigated in numerous applications. Various approaches have been proposed for coordination of multi-agent systems, including leader-follower [1], [2], [3], virtual structure [4], [5], behavior-based [6], [7], [8], navigation functions [9], control Lyapunov functions [10], artificial potentials based [11], [12], [13], [14], [15].