Introduction

In nature, of particular interest is the cooperative behavior, which helps the animal social groups achieve what an independent individual cannot [1]. For instance, when migrating, the bird flock can substantially reduce flying consumption through remaining the tailing birds within wingtip vortices. Collective motion of fish and quadrupeds is helpful for defending against predators and fast foraging for food, while the cooperation of hunters such as lions, wolves, and jackals would result in more efficient pursuit of prey. As the study develops in depth, the rationale behind animal group behaviors has inspired the study of cooperative control of multi-agent systems (MASs). With emphasis on the cooperative behavior of multiple agents, it shows a number of advantages over a single agent, including robustness to failures, comprehensiveness to system composition.