Research on global consensus problem of scalable swarm system

In this paper we study the consensus problem of scalable swarm system. we have proposed the two-layer emergent model of scalable swarm system in which the first layer we called individual neighbor layer describes the individual flocking behavior to its local goal position, and the second swarm layer describes the emergent aggregating behavior of swarm system. Here we extend the work to specify the global consensus problem of the swarm model based on Lyapunov stability theory, and study the fault-tolerance ability of the scalable swarming behavior.