多智能体协调控制--一致性区间方法

This book consists of nine chapters. Chapter 1 introduces the background of cooperative control and reviews graph theory and some technical tools. Chapters 2 and 3 are concerned with the consensus control problem for continuous-time and discrete-time linear multi-agent systems, respectively, and present several fixed-gain consensus protocols. Chapter 4 studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances. Chapter 5 continues Chapter 2 to investigate the consensus protocol design problem for continuous-time linear multi-agent systems and presents several fully distributed adaptive consensus protocols. Chapter 6 considers the distributed tracking control problem for linear multi-agent systems having a leader with nonzero control input. Chapter 7 studies the distributed containment control problem for the case with multiple leaders. Chapter 8 is concerned with the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties. The global consensus problem for Lipschitz nonlinear multi-agent systems is finally discussed in Chapter 9.