通信时延下的多智能体协同控制方法

Chapter 1 Introduction
1．1 Overview of Multi-Agent Systems
1．2 Flocking Control of Multi-Agent Systems
1．3 Consensus Control of Multi-Agent Systems
1．4 Time-Delay Systems
1．5 Outline of the Book
Chapter 2 Fundamentals
2．1 Graph Theory
2．2 Potential Function Based Flocking Control
2．3 Lie Algebra
Chapter 3 Flocking of Nonholonomic Vehicles in the Continuous-Time Setting
3．1 Continuous-Time Nonholonomic Vehicle Model
3．2 Control Protocols
3．3 Analysis of Flocking Behavior
3．4 Simulation Examples
3．4．1 Flocking with a Complete Graph
3．4．2 Flocking with a Disconnected Graph
3．4．3 Collisions in Systems without Complete Graphs
Chapter 4 Flocking of Nonholonomic Vehicles in the Discrete-time Setting
4．1 Discrete-Time Nonholonomic Vehicle Model
4．2 Control Protocols
4．3 Analysis of Flocking Behavior
4．4 Simulation Examples
4．4．1 Flocking without Delays
4．4．2 Flocking with Delays
……
Chapter 5 Consensus of Nonlinear Multi-Agent Systems in the Continuous-Time Setting
Chapter 6 Consensus of Nonlinear Multi-Agent Systems in the Discrete-Time Setting
References