Distributed Cooperative Control of Multi-agent Systems [Hardcover]

A detailed and systematic introduction to the distributed cooperative control of multi-agent systems from a theoretical, network perspective

• Features detailed analysis and discussions on the distributed cooperative control and dynamics of multi-agent systems
• Covers comprehensively first order, second order and higher order systems, swarming and flocking behaviors
• Provides a broad theoretical framework for understanding the fundamentals of distributed cooperative control

Preface ix

1 Introduction 1

1.1 Background 1

1.1.1 Networked Multi-agent Systems 1

1.1.2 Collective Behaviors and Cooperative Control in Multi-agent Systems 2

1.1.3 Network Control in Multi-agent Systems 4

1.1.4 Distributed Consensus Filtering in Sensor Networks 5

1.2 Organization 6

2 Consensus in Multi-agent Systems 11

2.1 Consensus in Linear Multi-agent Systems 11

2.1.1 Preliminaries 11

2.1.2 Model Formulation and Results 13

2.2 Consensus in Nonlinear Multi-agent Systems 15

2.2.1 Preliminaries and Model Formulation 15

2.2.2 Local Consensus of Multi-agent Systems 16

2.2.3 Global Consensus of Multi-agent Systems in General Networks 19

2.2.4 Global Consensus of Multi-agent Systems in Virtual Networks 26

2.2.5 Simulation Examples 29

2.3 Notes 30

3 Second-Order Consensus in Multi-agent Systems 31

3.1 Second-Order Consensus in Linear Multi-agent Systems 32

3.1.1 Model Formulation 32

3.1.2 SlC$