Cooperative Control of Multi-Agent Systems

Contents

Preface

1    Introduction and Mathematical Background

1.1    Introduction to Cooperative Control of Multi-Agent Systems

1.1.1    Consensus

1.1.2    Formation Control

1.1.3    Flocking

1.2    Overview of This Monograph

1.3    Mathematical Preliminaries

1.3.1    Notations and Definitions

1.3.2    Basic Algebraic Graph Theory

1.3.3    Stability Theory and Technical Tools

1.4    Notes

2    Consensus Control of Linear Multi-Agent Systems: Continuous Time Case

2.1    Problem Statement

2.2    State Feedback Consensus Protocols

2.2.1    Consensus Condition and Consensus Value

2.2.2    Consensus Region

2.2.3    Consensus Protocol Design

2.2.3.1    The Special Case with Neutrally Stable Agents

2.2.3.2    The General Case

2.2.3.3    Consensus ...