# Exponential consensus for hierarchical multi‐agent systems with switching topology and inter‐layer communication delay

> Research article (IET Control Theory and Applications, 2016) · cited 30× · AI/ML

**Wikidata**: [openalex:W2315879452](https://www.wikidata.org/wiki/openalex:W2315879452)  
**Source**: https://4ort.xyz/entity/exponential-consensus-for-hierarchical-multiagent-systems-with-switching-topology-and-interlayer-communication-delay