This paper models a class of hierarchical cyber-physical systems and studies its associated consensus problem. The model has a pyramid structure, which reflects many realistic natural or human systems. By analyzing the spectrum of the coupling matrix, it is shown that all nodes in the physical layer can reach a consensus based on the proposed distributed protocols without interlayer delays. Then, the result is extended to the case with interlayer delays. A necessary and sufficient condition for consensus-seeking is derived from the frequency domain perspective, which describes a permissible range of the delay. Finally, the application of the proposed model in the power-sharing problem is simulated to demonstrate the effectiveness and significance of the analytic results.
Fully Distributed Event-Triggered Protocols for Linear Multi-Agent Networks
State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, College of Engineering, Peking University（北京大学工学院力学与工程科学系湍流国家重点实验室）
Resilient Hierarchical Power Control for Hybrid GFL/GFM Microgrids Under Mixed Cyber-Attacks and Physical Constraints
State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院工业控制技术国家重点实验室）；College of Control Science and Engineering, Zhejiang University（浙江大学控制科学与工程学院）；Huzhou Industrial Control Technology Research Institute（湖州工业控制技术研究院）；Zhejiang Key Laboratory of Decision Intelligence（浙江省决策智能重点实验室）；Research Institute of China Southern Power Grid Co., Ltd.（中国南方电网有限责任公司电网科学研究院）
Distributed Algorithms for Filtering, Estimation, and Fault Detection over Cyber-Physical-Systems: A Tutorial and Survey
Semnan University（塞姆南大学）；Sharif University of Technology（谢里夫理工大学）；Qom University of Technology（库姆理工大学）；Qatar University（卡塔尔大学）；Instituto Superior Tecnico, University of Lisbon（里斯本大学高等理工学院）；Boston College（波士顿学院）
Enhancing Data Integrity and Traceability in Industry Cyber Physical Systems (ICPS) through Blockchain Technology: A Comprehensive Approach
State University of New York at Binghamton（纽约州立大学宾汉姆顿分校）；Inventive Apps Ltd（Inventive Apps有限公司）；MSIT, Emporia State University（埃马里奥州立大学管理与信息技术学院）；Southern Utah University（南犹他大学）；Emporia State University（埃马里奥州立大学）
