Abstract：　　

　　The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection.

    The book strikes a balance between rigorous mathematical proof and engineering practicality. Every design method is systematically presented together with illustrative examples and all the designs are validated by computer simulation. The methods presented are applied to several practical problems, among them the leader-following consensus problem of multiple Euler–Lagrange systems, attitude synchronization of multiple rigid-body systems, and power regulation of microgrids. The book gives a detailed exposition of two approaches to the design of distributed control laws for complex multi-agent systems―the distributed-observer and distributed-internal-model approaches. Mastering both will enhance a reader’s ability to deal with a variety of complex real-world problems. The main focus of this book is a pair of cooperative control problems: consensus and cooperative output regulation. Its emphasis is on complex multi-agent systems characterized by strong nonlinearity, large uncertainty, heterogeneity, external disturbances and jointly connected switching communication topologies. The cooperative output regulation problem is a generalization of the classical output regulation problem to multi-agent systems and it offers a general framework for handling a variety of cooperative control problems such as consensus, formation, tracking and disturbance rejection.

    Cooperative Control of Multi-agent Systems can be used as a textbook for graduate students in engineering, sciences, and mathematics, and can also serve as a reference book for practitioners and theorists in both industry and academia. Some knowledge of the fundamentals of linear algebra, calculus, and linear systems are needed to gain maximum benefit from this book.

Contents：

1 Introduction
 1.1 Multi-agent Control Systems
 1.2 Graph and Distributed Control
   1.2.1 Static Graphs
   1.2.2 Switching Graphs
   1.2.3 Distributed Control Scheme
 1.3 Cooperative Control
 1.4 Organization of the Book
 1.5 Notes and References
 References

2 Preliminaries
 2.1 Properties of Some Typical Graphs
   2.1.1 Static Graphs
   2.1.2 Switching Graphs
 2.2 Perturbed Systems
 2.3 Generalized Barbalat’s Lemma
 2.4 Some Other Results
 2.5 Notes and References
 References

3 Two Consensus Problems
 3.1 A Motivating Example
 3.2 Problem Formulation
 3.3 The Two Consensus Problems over Static Networks
 3.4 The Two Consensus Problems over Switching Networks
 3.5 A Dual Result to Theorem 3.4
 3.6 Notes and References
 References

4 The Distributed Observer Approach
 4.1 Introduction
 4.2 A Framework for Synthesizing Distributed Control Laws
 4.3 Distributed Observer for a Known Leader System
 4.4 Adaptive Distributed Observer for a Known Leader System
   4.4.1 Case 1
   4.4.2 Case 2
   4.4.3 Case 3
   4.4.4 Case 4
 4.5 Adaptive Distributed Observer for an Uncertain Leader System
 4.6 Numerical Examples
 4.7 Notes and References
 References

5 Leader-Following Consensus of Multiple Euler–Lagrange Systems
 5.1 Euler–Lagrange Systems
 5.2 Tracking Control of a Single Euler–Lagrange System
 5.3 Estimation-Based Control
 5.4 Leader-Following Consensus of Multiple Euler–Lagrange Systems
 5.5 Numerical Examples
 5.6 Notes and References
 References

6 Leader-Following Consensus of Multiple Rigid-Body Systems
 6.1 Attitude Parametrization, Kinematics, and Dynamics
   6.1.1 RotationMatrix
   6.1.2 Quaternion and Unit Quaternion
   6.1.3 Attitude Parameterized by Unit Quaternion
   6.1.4 Unit Quaternion-Based Attitude Kinematics and Dynamics
 6.2 Tracking Control of a Single Rigid-Body System
   6.2.1 Case 1: J is known and ω, q are available
   6.2.2 Case 2: J is uncertain and ω, q are available
   6.2.3 Case 3: J is known and only q is available
 6.3 Estimation-Based Control
   6.3.1 Case 1: J is known and ω, q are available
   6.3.2 Case 2: J is uncertain and ω, q are available
   6.3.3 Case 3: J is known and only q is available
 6.4 Leader-Following Consensus of Multiple Rigid-Body Systems
   6.4.1 Problem Formulation
   6.4.2 Distributed Observer Design
   6.4.3 Solvability of Problem 6.3 for Three Cases
 6.5 Numerical Examples
 6.6 Notes and References
 References

7 Output Regulation
 7.1 A Typical Scenario
 7.2 Linear Output Regulation: Feedforward Design
 7.3 Linear Structurally Stable Output Regulation: p-copy Internal Model
 7.4 Linear Robust Output Regulation: Canonical Internal Model
 7.5 Notes and References
 References

8 Cooperative Output Regulation of Linear Multi-agent Systems by Distributed Observer Approach
 8.1 Linear Cooperative Output Regulation
 8.2 Distributed Observer-Based Approach
 8.3 Adaptive Distributed Observer-Based Approach
 8.4 An Application to the Power Tracking Problem of a Grid-Connected Spatially Concentrated Microgrid
 8.5 Notes and References
 References

9 Cooperative Robust Output Regulation of Linear Multi-agent Systems
 9.1 Cooperative Structurally Stable Output Regulation
 9.2 Solvability of Cooperative Structurally Stable Output Regulation
 9.3 Cooperative Robust Output Regulation by Distributed Canonical Internal Model Approach
 9.4 Notes and References
 References

10 Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems Over Static Networks
 10.1 Problem Formulation and Preliminaries
 10.2 Solvability of Case 1 of the Problem
 10.3 Solvability of Case 2 of the Problem
 10.4 Solvability of Case 3 of the Problem
 10.5 Numerical Examples
 10.6 Notes and References
 References

11 Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems over Switching Networks
 11.1 Problem Formulation
 11.2 Preliminaries
 11.3 Solvability of Case 1 of the Problem
 11.4 Solvability of Case 2 of the Problem
 11.5 Numerical Examples
 11.6 Notes and References
 References

Appendix A

Index