Chapter 2
Theoretical Background
2.1 Preliminaries of Distributed Systems
Recently, some great advances have been achieved in the cooperative control of multiagent systems. The research focus is mainly on communication environments which consequently require distributed control design. To this day, some control techniques have been proposed according to different communication conditions, such as time-varying networks [59], [69], subject to measurement noise [63], [66], time delays [62], [10], or disturbances [68], [72].
A future control design may equip agents with embedded micro-processors to collect information from neighboring agents so as to update the controller according to some pre-designed rules. Motivated by this observation, ...
