# A sub-optimal consensus design for multi-agent systems based on hierarchical LQR

> Research article (Automatica, 2015) · cited 96× · AI/ML

**Wikidata**: [openalex:W1965503683](https://www.wikidata.org/wiki/openalex:W1965503683)  
**Source**: https://4ort.xyz/entity/a-sub-optimal-consensus-design-for-multi-agent-systems-based-on-hierarchical-lqr