“…In recent years, the cooperative control of multi-agent systems has become the research focus of many scholars (Ji et al, 2020;Ji & Yu, 2017;Lou et al, 2020;Qin & Yu, 2013;Qu et al, 2020;Zou et al, 2019Zou et al, , 2020. As an important basis of cooperative control, consensus is widely used in robot formation control, UAV task assignment, smart grid and so on.…”