由於多智能體繫統的廣泛應用，其分布式協同
控制成為數學、物理、生物、工程、管理等眾多相關
領域的一個熱點研究方向，相互合作的分布式協議成
為多智能體網絡繫統實現協同控制至關重要的因素。
虞文武等著的《多智能體繫統分布式協同控制(英文版
)(精)/網絡科學與工程叢書》詳細介紹了多智能體繫
統的研究背景和相關研究進展，深入探討了完全基於
分布式信息的多智能體繫統控制協議設計，研究了多
智能體傳感網絡的濾波器設計等關鍵問題。全書從理
論到應用繫統地研究了多智能體繫統協同控制的研究
進展，對於有基礎的研究者和感興趣的初學者，都具
有非常高的參考價值。

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