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 EulerLagrangesystems, 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 systemsthe 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.

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.

Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Modern treatment of output regulation applied to an increasingly popular and widespread class of systems Extends the use of distributed observers and internal models to formation and connectivity preservation Helps the control engineer to work with wide variety of systems from divers backgrounds

Autorentext

He Cai received the B.Eng. degree in automation from the University of Science and Technology of China, Hefei, in 2010, and the Ph.D. degree in mechanical and automation engineering from the Chinese University of Hong Kong, in 2014. From 2014 to 2017, he worked as a research fellow with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. Since 2017, he has been a full professor with School of Automation Science and Engineering, South China University of Technology, Guangzhou. His research interests include cooperative control of multi-agent systems and its applications to unmanned systems and power systems. He has published more than 20 journal papers. He served as programme co-chair for ICSEE 2021.

Youfeng Su received the B.S. and M.S. degrees in mathematics from East China Normal University, Shanghai, in 2005 and 2008, respectively, and the Ph.D. degree in mechanical and automation engineering from The Chinese University of Hong Kong, in 2012. From 2012 to 2013, he was a Postdoctoral Fellow with The Chinese University of Hong Kong. In June 2013, he joined the College of Mathematics and Computer Science, Fuzhou University, and is now a full professor with the College of Computer and Data Science, Fuzhou University. His research interests include cooperative control, multiagent systems, output regulation, and switched/hybrid systems. Dr. Su has published more than 30 journal papers. He received the CUHK Young Scholars Thesis Award from the Chinese University of Hong Kong in 2013. He is now serving as a subject editor of the International Journal of Robust and Nonlinear Control.

**Jie Huang **studied Power Engineering at Fuzhou University from 1977 to 1979 and Circuits and Systems at Nanjing University of Science and Technology (NUST) from 1979 to 1982. He got his Master's degree from NUST in 1982 and was a faculty member there from 1982 to 1986. He completed his Ph.D. study in automatic control at the Johns Hopkins University in 1990 and subsequently held a post-doctoral fellowship there until July 1991. From August 1991 to July 1995, he worked in industry in the USA. He joined the Department of Mechanical and Automation Engineering of the Chinese University of Hong Kong in September 1995, was the Chair of the Department from 2012 to 2018, and is now Choh-Ming Li Research Professor there. He served as a Science Advisor to the Leisure and Cultural Services Department of Hong Kong Special Administrative Region, and Honorary Advisor to Hong Kong Science Museum. His research interests include control theory and applications, robotics and automation, computational intelligence, and guidance and control of flight vehicles.

Professor Huang has authored or co-authored three books (two of which are published by Springer) and numerous papers. He received the Second Prize of the China State Natural Science Award in 2010, andthe Croucher Senior Research Fellowship award in 2006. He is a Fellow of the CAA, the IFAC and the IEEE. He is/was editor, associate editor or guest editor of more than ten journals. He was a Distinguished Lecturer of the IEEE Control Systems Society from 2005 to 2008.

Inhalt

Introduction.- 2. Preliminaries.- 3. Two Consensus Problems.- 4. The Distributed Observer Approach.- 5. Leader-Following Consensus of Multiple EulerLagrange Systems.- 6. Leader-Following Consensus of Multiple Rigid Body Systems.- 7. Output Regulation.- 8. Cooperative Output Regulation of Linear Multi-agent Systems by Feedforward Design.- 9. Cooperative Robust Output Regulation of Linear Multi-agent Systems.- 10. Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems.- 11. Cooperative Robust Output Regulation of Nonlinear Multi-agent Systems over Switching Graphs. <p