Cooperative　control　of　multi-agent　systems　involves　the　coordination　and　collaboration　of　multiple　intelligent　agents　to　achieve　common　goals　or　tasks.　This　field　finds　extensive　applications　in　robotics,　intelligent　transportation　systems,　the　Internet　of　Things,　and　unmanned　systems,　garnering　substantial　attention　from　both　academia　and　industry.　Moreover,　it　serves　as　a　fundamental　requirement　for　intelligent　interaction　and　human-robot　collaboration,　offering　crucial　support　for　machines　in　perceiving　their　external　environments.　Over　the　last　decade,　notable　strides　have　been　made　in　this　domain.　Consequently,　this　paper　conducts　a　comprehensive　review　of　recent　advancements.　Initially,　this　paper　delineate　the　backdrop　of　cooperative　control　in　multi-agent　systems,　followed　by　an　exploration　of　the　research＇s　progression.　Subsequently,　various　methodologies　for　formation　and　collaboration　are　introduced,　with　an　in-depth　discussion　of　advanced　cooperative　control　algorithms　for　multi-agent　systems.　Lastly,　this　paper　provides　a　prospective　outlook　on　the　future　direction　of　multi-agent　cooperative　control.　©　2023　IEEE.