由于多智能体系统的广泛应用，其分布式协同合作控制成为数学、物理、生物、控制、管理等众多相关领域的一个热点研究方向。相互合作的分布式协议成为多智能体网络系统实现协同控制的至关重要的因素。本书详细介绍了多智能体系统的研究背景和相关的研究进展，深入探讨了完全基于分布式信息的多智能体系统自适应控制协议设计，研究了多智能体传感网络的滤波器设计等关键问题。全书从研究背景到理论以及应用系统地研究了多智能体系统合作控制的相关研究进展，这无论对于有基础的研究者还是感兴趣的初学者，都是非常有益的。

　虞文武，东南大学教授、博士生导师、复杂系 统与网络科学研究中心副主任、复杂系统协同 控制实验室主任。于2004年和2007年分别获 得东南大学学士和硕士学位，2010年获得香港 城市大学电子工程系博士学位。现主要从事复 杂网络系统协同分析、控制与优化等相关研究，主持参与基金项目10多项。入选国家“万人计划”青年拔尖人才；2014-2016年人选Thomson Reuters全球高被引科学家，SCI H指数 为35，25篇ESI高被引论文（学科前1%）；曾获2010年江苏 省科学技术奖一等奖、201 5年北京市科学技术奖二等奖、江苏 省数学成就奖、Scopus“青年科学之星”信息科学领域金奖、国内外学术会议和机构论文奖6篇等。合作出版图书1种、专著1种，发表SCI论文90余篇。

1 Introduction
1．1 Background
1．1．1 Networked Multi-agent Systems
1．1．2 Collective Behaviors and Cooperative Control in Multi-agent Systems
1．1．3 Network Control in Multi-agent Systems
1．1．4 Distributed Consensus Filtering in Sensor Networks
1．2 Organization

2 Consensus in Multi-agent Systems
2．1 Consensus in Linear Multi-agent Systems
2．1．1 Preliminaries
2．1．2 Model Formulation and Results
2．2 Consensus in Nonlinear Multi-agent Systems
2．2．1 Preliminaries and Model Formulation
2．2．2 Local Consensus of Multi-agent Systems
2．2．3 Global Consensus of Multi-agent Systems in General Networks
2．2．4 Global Consensus of Multi-agent Systems in Virtual Networks
2．2．5 Simulation Examples
2．3 Notes

3 Second-Order Consensus in Multi-agent Systems
3．1 Second-Order Consensus in Linear Multi-agent Systems
3．1．1 Model Formulation
3．1．2 Second-Order Consensus in Directed Networks
3．1．3 Second-Order Consensus in Delayed Directed Networks
3．1．4 Simulation Examples
3．2 Second-Order Consensus in Nonlinear Multi-agent Systems
3．2．1 Preliminaries
3．2．2 Second-Order Consensus in Strongly Connected Networks
3．2．3 Second-Order Consensus in Rooted Networks
3．2．4 Simulation Examples
3．3 Notes

4 Higher-Order Consensus in Multi-agent Systems
4．1 Preliminaries
4．2 Higher-Order Consensus in a General Form
4．2．1 Synchronization in Complex Networks
4．2．2 Higher-Order Consensus in a General Form
4．2．3 Consensus Region in Higher-Order Consensus
4．3 Leader-Follower Control in Multi-agent Systems
4．3．1 Leader-Follower Control in Multi-agent Systems with Full-State Feedback
4．3．2 Leader-Follower Control with Observers
4．4 Simulation Examples
4．4．1 Consensus Regions
4．4．2 Leader-Follower Control with Full-State Feedback
4．4．3 Leader-Follower Control with Observers
4．5 Notes

5 Stability Analysis of Swarming Behaviors
5．1 Preliminaries
5．2 Analysis of Swarm Cohesion
5．3 Swarm Cohesion in a Noisy Environment
5．4 Cohesion in Swarms with Switched Topologies
5．5 Cohesion in Swarms with Changing Topologies
5．6 Simulation Examples
5．7 Notes

6 Distributed Leader-Follower Flocking Control
6．1 Preliminaries
6．1．1 Model Formulation
6．1．2 Nonsmooth Analysis
6．2 Distributed Leader-Follower Control with Pinning Observers
6．3 Simulation Examples
6．4 Notes

7 Consensus of Multi-agent Systems with Sampled Data Information
7．1 Problem Statement
7．2 Second-Order Consensus of Multi-agent Systems with Sampled Full Information
7．2．1 Second-Order Consensus of Multi-agent Systems with Sampled Full Information
7．2．2 Selection of Sampling Periods
7．2．3 Design of Coupling Gains
7．2．4 Consensus Region for the Network Spectrum
7．2．5 Second-Order Consensus in Delayed Undirected Networks with Sampled Position and Velocity Data
7．2．6 Simulation Examples
7．3 Second-Order Consensus of Multi-agent Systems with Sampled Position Information
7．3．1 Second-Order Consensus in Multi-agent Dynamical Systems with Sampled Position Data
7．3．2 Simulation Examples
7．4 Consensus of Multi-agent Systems with Nonlinear Dynamics and Sampled Information
7．4．1 The Case with a Fixed and Strongly Connected Topology
7．4．2 The Case with Topology Containing a Directed Spanning Tree
7．4．3 The Case with Topology Having no Directed Spanning Tree
7．5 Notes

8 Consensus of Second-Order Multi-agent Systems with
Intermittent Communication
8．1 Problem Statement
8．2 The Case with a Strongly Connected Topology
8．3 The Case with a Topology Having a Directed Spanning Tree
8．4 Consensus of Second-Order Multi-agent Systems with Nonlinear Dynamics and Intermittent Communication
8．5 Notes

9 Distributed Adaptive Control of Multi-agent Systems
9．1 Distributed Adaptive Control in Complex Networks
9．1．1 Preliminaries
9．1．2 Distributed Adaptive Control in Complex Networks
9．1．3 Pinning Edges Control
9．1．4 Simulation Examples
9．2 Distributed Control Gains Design for Second-Order Consensus in Nonlinear Multi-agent Systems
9． 2．1 Preliminaries
9．2．2 Distributed Control Gains Design： Leaderless Case
9．2．3 Distributed Control Gains Design： Leader-Follower Case
9．2．4 Simulation Examples
9．3 Notes

10 Distributed Consensus Filtering in Sensor Networks
10．1 Preliminaries
10．2 Distributed Consensus Filters Design for Sensor Networks with Fully-Pinned Controllers
10．3 Distributed Consensus Filters Design for Sensor Networks with Pinning Controllers
10．4 Distributed Consensus Filters Design for Sensor Networks with Pinning Observers
10．5 Simulation Examples
10．6 Notes

11 Delay-Induced Consensus and Quasi-Consensus in Multi-agent Systems
11．1 Problem Statement
11．2 Delay-Induced Consensus and Quasi-Consensus in Multi-agent Dynamical Systems
11．3 Motivation for Quasi-Consensus Analysis
11．4 Simulation Examples
11．5 Notes

12 Conclusions and Future Work
12．1 Conclusions
12．2 Future Work

Bibliography
Index