Distributed Cooperative Control of Multi agent Systems

Distributed Cooperative Control of Multi agent Systems
Author: Wenwu Yu,Guanghui Wen,Guanrong Chen,Jinde Cao
Publsiher: John Wiley & Sons
Total Pages: 350
Release: 2017-05-01
ISBN: 1119246202
Category: Science
Language: EN, FR, DE, ES & NL

Distributed Cooperative Control of Multi agent Systems Book Excerpt:

A detailed and systematic introduction to the distributed cooperative control of multi-agent systems from a theoretical, network perspective Features detailed analysis and discussions on the distributed cooperative control and dynamics of multi-agent systems Covers comprehensively first order, second order and higher order systems, swarming and flocking behaviors Provides a broad theoretical framework for understanding the fundamentals of distributed cooperative control

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Zhongkui Li,Zhisheng Duan
Publsiher: CRC Press
Total Pages: 262
Release: 2017-03-29
ISBN: 9781138073623
Category: Electronic Book
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H� and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Yue Wang,Eloy Garcia,David Casbeer,Fumin Zhang
Publsiher: John Wiley & Sons
Total Pages: 320
Release: 2017-03-20
ISBN: 111926619X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

Cooperative Control of Multi agent Systems

Cooperative Control of Multi agent Systems
Author: He Cai,Youfeng Su,Jie Huang
Publsiher: Springer Nature
Total Pages: 383
Release: 2022-05-31
ISBN: 3030983773
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi agent Systems Book Excerpt:

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. 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.

Fixed Time Cooperative Control of Multi Agent Systems

Fixed Time Cooperative Control of Multi Agent Systems
Author: Zongyu Zuo,Qing-Long Han,Boda Ning
Publsiher: Springer
Total Pages: 153
Release: 2019-05-28
ISBN: 3030202798
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Fixed Time Cooperative Control of Multi Agent Systems Book Excerpt:

This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced with insightful understanding. This book presents solutions for several problems of fixed-time cooperative control using systematic design methods. The book compares fixed-time cooperative control with asymptotic cooperative control, demonstrating how the former can achieve better closed-loop performance and disturbance rejection properties. It also discusses the differences from finite-time control, and shows how fixed-time cooperative control can produce the faster rate of convergence and provide an explicit estimate of the settling time independent of initial conditions. This monograph presents multiple applications of fixed-time control schemes, including to distributed optimization of multi-agent systems, making it useful to students, researchers and engineers alike.

Cooperative Control of Multi agent Systems with Applications

Cooperative Control of Multi agent Systems with Applications
Author: Yao Lu
Publsiher: Unknown
Total Pages: 290
Release: 2011
ISBN: 1928374650XXX
Category: Control theory
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi agent Systems with Applications Book Excerpt:

Cooperative Control of Distributed Multi Agent Systems

Cooperative Control of Distributed Multi Agent Systems
Author: Jeff Shamma
Publsiher: John Wiley & Sons
Total Pages: 452
Release: 2008-02-28
ISBN: 9780470724194
Category: Science
Language: EN, FR, DE, ES & NL

Cooperative Control of Distributed Multi Agent Systems Book Excerpt:

The paradigm of ‘multi-agent’ cooperative control is the challenge frontier for new control system application domains, and as a research area it has experienced a considerable increase in activity in recent years. This volume, the result of a UCLA collaborative project with Caltech, Cornell and MIT, presents cutting edge results in terms of the “dimensions” of cooperative control from leading researchers worldwide. This dimensional decomposition allows the reader to assess the multi-faceted landscape of cooperative control. Cooperative Control of Distributed Multi-Agent Systems is organized into four main themes, or dimensions, of cooperative control: distributed control and computation, adversarial interactions, uncertain evolution and complexity management. The military application of autonomous vehicles systems or multiple unmanned vehicles is primarily targeted; however much of the material is relevant to a broader range of multi-agent systems including cooperative robotics, distributed computing, sensor networks and data network congestion control. Cooperative Control of Distributed Multi-Agent Systems offers the reader an organized presentation of a variety of recent research advances, supporting software and experimental data on the resolution of the cooperative control problem. It will appeal to senior academics, researchers and graduate students as well as engineers working in the areas of cooperative systems, control and optimization.

Robust Cooperative Control of Multi Agent Systems

Robust Cooperative Control of Multi Agent Systems
Author: Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding
Publsiher: CRC Press
Total Pages: 230
Release: 2021-05-18
ISBN: 100037663X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Robust Cooperative Control of Multi Agent Systems Book Excerpt:

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Zhongkui Li,Zhisheng Duan
Publsiher: CRC Press
Total Pages: 262
Release: 2017-12-19
ISBN: 1466569972
Category: Computers
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Distributed controller design is generally a challenging task, especially for multi-agent systems with complex dynamics, due to the interconnected effect of the agent dynamics, the interaction graph among agents, and the cooperative control laws. Cooperative Control of Multi-Agent Systems: A Consensus Region Approach offers a systematic framework for designing distributed controllers for multi-agent systems with general linear agent dynamics, linear agent dynamics with uncertainties, and Lipschitz nonlinear agent dynamics. Beginning with an introduction to cooperative control and graph theory, this monograph: Explores the consensus control problem for continuous-time and discrete-time linear multi-agent systems Studies the H∞ and H2 consensus problems for linear multi-agent systems subject to external disturbances Designs distributed adaptive consensus protocols for continuous-time linear multi-agent systems Considers the distributed tracking control problem for linear multi-agent systems with a leader of nonzero control input Examines the distributed containment control problem for the case with multiple leaders Covers the robust cooperative control problem for multi-agent systems with linear nominal agent dynamics subject to heterogeneous matching uncertainties Discusses the global consensus problem for Lipschitz nonlinear multi-agent systems Cooperative Control of Multi-Agent Systems: A Consensus Region Approach provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Jianan Wang,Chunyan Wang,Ming Xin,Zhengtao Ding,Jiayuan Shan
Publsiher: Academic Press
Total Pages: 258
Release: 2020-03-25
ISBN: 0128204451
Category: Computers
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Cooperative Control of Multi-Agent Systems: An Optimal and Robust Perspective reports and encourages technology transfer in the field of cooperative control of multi-agent systems. The book deals with UGVs, UAVs, UUVs and spacecraft, and more. It presents an extended exposition of the authors’ recent work on all aspects of multi-agent technology. Modelling and cooperative control of multi-agent systems are topics of great interest, across both academia (research and education) and industry (for real applications and end-users). Graduate students and researchers from a wide spectrum of specialties in electrical, mechanical or aerospace engineering fields will use this book as a key resource. Helps shape the reader's understanding of optimal and robust cooperative control design techniques for multi-agent systems Presents new theoretical control challenges and investigates unresolved/open problems Explores future research trends in multi-agent systems Offers a certain amount of analytical mathematics, practical numerical procedures, and actual implementations of some proposed approaches

Robust Cooperative Control of Multi Agent Systems

Robust Cooperative Control of Multi Agent Systems
Author: Chunyan Wang,Zongyu Zuo,Jianan Wang,Zhengtao Ding
Publsiher: CRC Press
Total Pages: 230
Release: 2021-05-19
ISBN: 1000376648
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Robust Cooperative Control of Multi Agent Systems Book Excerpt:

This book presents a concise introduction to the latest advances in robust cooperative control design for multi-agent systems with input delay and external disturbances, especially from a prediction and observation perspective. The volume covers a wide range of applications, such as the trajectory tracking of quadrotors, formation flying of multiple unmanned aerial vehicles (UAVs) and fixed-time formation of ground vehicles. Robust cooperative control means that multi-agent systems are able to achieve specified control tasks while remaining robust in the face of both parametric and nonparametric model uncertainties. In addition, the authors cover a wide range of key issues in cooperative control, such as communication and input delays, parametric model uncertainties and external disturbances. Moving beyond the scope of existing works, a systematic prediction and observation approach to designing robust cooperative control laws is presented. About the Authors Chunyan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zongyu Zuo is a full Professor with the School of Automation Science and Electrical Engineering, Beihang University, China. Jianan Wang is an Associate Professor in the School of Aerospace Engineering at Beijing Institute of Technology, China. Zhengtao Ding is a Professor in the Department of Electrical and Electronic Engineering at University of Manchester, U.K.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric,Abhijit Das
Publsiher: Springer Science & Business Media
Total Pages: 307
Release: 2013-12-31
ISBN: 1447155742
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Cooperative Control of Multi-Agent Systems extends optimal control and adaptive control design methods to multi-agent systems on communication graphs. It develops Riccati design techniques for general linear dynamics for cooperative state feedback design, cooperative observer design, and cooperative dynamic output feedback design. Both continuous-time and discrete-time dynamical multi-agent systems are treated. Optimal cooperative control is introduced and neural adaptive design techniques for multi-agent nonlinear systems with unknown dynamics, which are rarely treated in literature are developed. Results spanning systems with first-, second- and on up to general high-order nonlinear dynamics are presented. Each control methodology proposed is developed by rigorous proofs. All algorithms are justified by simulation examples. The text is self-contained and will serve as an excellent comprehensive source of information for researchers and graduate students working with multi-agent systems.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Yue Wang,Eloy Garcia,Fumin Zhang,David Casbeer
Publsiher: John Wiley & Sons
Total Pages: 320
Release: 2017-05-08
ISBN: 1119266122
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

A comprehensive review of the state of the art in the control of multi-agent systems theory and applications The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems. Cooperative Control of Multi-Agent Systems: Theory and Applications provides a wide-ranging review of the latest developments in the cooperative control of multi-agent systems theory and applications. The applications described are mainly in the areas of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Throughout, the authors link basic theory to multi-agent cooperative control practice — illustrated within the context of highly-realistic scenarios of high-level missions — without losing site of the mathematical background needed to provide performance guarantees under general working conditions. Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control. Establishes a bridge between fundamental cooperative control theory and specific problems of interest in a wide range of applications areas Includes example applications from the fields of space exploration, radiation shielding, site clearance, tracking/classification, surveillance, search-and-rescue and more Features detailed presentations of specific algorithms and application frameworks with relevant commercial and military applications Provides a comprehensive look at the latest developments in this rapidly evolving field, while offering informed speculation on future directions for collective control systems The use of multi-agent system technologies in both everyday commercial use and national defense is certain to increase tremendously in the years ahead, making this book a valuable resource for researchers, engineers, and applied mathematicians working in systems and controls, as well as advanced undergraduates and graduate students interested in those areas.

Distributed Cooperative Control and Communication for Multi agent Systems

Distributed Cooperative Control and Communication for Multi agent Systems
Author: Dong Yue,Huaipin Zhang,Shengxuan Weng
Publsiher: Springer Nature
Total Pages: 196
Release: 2021-02-15
ISBN: 9813367180
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Distributed Cooperative Control and Communication for Multi agent Systems Book Excerpt:

This book investigates distributed cooperative control and communication of MASs including linear systems, nonlinear systems and multiple rigid body systems. The model-based and data-driven control method are employed to design the (optimal) cooperative control protocol. The approaches of this book consist of model-based and data-driven control such as predictive control, event-triggered control, optimal control, adaptive dynamic programming, etc. From this book, readers can learn about distributed cooperative control methods, data-driven control, finite-time stability analysis, cooperative attitude control of multiple rigid bodies. Some fundamental knowledge prepared to read this book is finite-time stability theory, event-triggered sampling mechanism, adaptive dynamic programming and optimal control.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Frank L. Lewis,Hongwei Zhang,Kristian Hengster-Movric
Publsiher: Unknown
Total Pages: 328
Release: 2014-01-31
ISBN: 9781447155751
Category: Electronic Book
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Cooperative Tracking Control and Regulation for a Class of Multi agent Systems

Cooperative Tracking Control and Regulation for a Class of Multi agent Systems
Author: Hongjing Liang,Huaguang Zhang
Publsiher: Springer
Total Pages: 173
Release: 2019-05-28
ISBN: 9811383596
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Cooperative Tracking Control and Regulation for a Class of Multi agent Systems Book Excerpt:

This book focuses on the characteristics of cooperative control problems for general linear multi-agent systems, including formation control, air traffic control, rendezvous, foraging, role assignment, and cooperative search. On this basis and combined with linear system theory, it introduces readers to the cooperative tracking problem for identical continuous-time multi-agent systems under state-coupled dynamics; the cooperative output regulation for heterogeneous multi-agent systems; and the optimal output regulation for model-free multi-agent systems. In closing, the results are extended to multiple leaders, and cooperative containment control for uncertain multi-agent systems is addressed. Given its scope, the book offers an essential reference guide for researchers and designers of multi-agent systems, as well as a valuable resource for upper-level undergraduate and graduate students.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: James Cooper
Publsiher: Createspace Independent Publishing Platform
Total Pages: 318
Release: 2017-09-19
ISBN: 9781984964175
Category: Electronic Book
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Cooperative Control of Multi-Agent Systems provides a novel approach to designing distributed cooperative protocols for multi-agent systems with complex dynamics. The proposed consensus region decouples the design of the feedback gain matrices of the cooperative protocols from the communication graph and serves as a measure for the robustness of the protocols to variations of the communication graph. By exploiting the decoupling feature, adaptive cooperative protocols are presented that can be designed and implemented in a fully distributed fashion.

Cooperative Control of Multi Agent Systems

Cooperative Control of Multi Agent Systems
Author: Darrell Sparks
Publsiher: Createspace Independent Publishing Platform
Total Pages: 318
Release: 2018-05-18
ISBN: 9781724758491
Category: Electronic Book
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi Agent Systems Book Excerpt:

Many of the problems and solutions considered involve combinations of both types of vehicles. Topics explored include target assignment, target tracking, consensus, stochastic game theory-based framework, event-triggered control, topology design and identification, coordination under uncertainty and coverage control.The superiority of multi-agent systems over single agents for the control of unmanned air, water and ground vehicles has been clearly demonstrated in a wide range of application areas. Their large-scale spatial distribution, robustness, high scalability and low cost enable multi-agent systems to achieve tasks that could not successfully be performed by even the most sophisticated single agent systems.

Cooperative Control of Multi agent Systems by Event triggered Strategies

Cooperative Control of Multi agent Systems by Event triggered Strategies
Author: 胡文峰
Publsiher: Unknown
Total Pages: 136
Release: 2016
ISBN: 1928374650XXX
Category: Intelligent control systems
Language: EN, FR, DE, ES & NL

Cooperative Control of Multi agent Systems by Event triggered Strategies Book Excerpt:

Discrete Time Sliding Mode Protocols for Discrete Multi Agent System

Discrete Time Sliding Mode Protocols for Discrete Multi Agent System
Author: Keyurkumar Patel,Axaykumar Mehta
Publsiher: Springer Nature
Total Pages: 121
Release: 2020-08-27
ISBN: 981156311X
Category: Technology & Engineering
Language: EN, FR, DE, ES & NL

Discrete Time Sliding Mode Protocols for Discrete Multi Agent System Book Excerpt:

This book presents few novel Discrete-time Sliding Mode (DSM) protocols for leader-following consensus of Discrete Multi-Agent Systems (DMASs). The protocols intend to achieve the consensus in finite time steps and also tackle the corresponding uncertainties. Based on the communication graph topology of multi-agent systems, the protocols are divided into two groups, namely (i) Fixed graph topology and (ii) Switching graph topology. The coverage begins with the design of Discrete-time Sliding Mode (DSM) protocols using Gao’s reaching law and power rate reaching law for the synchronization of linear DMASs by using the exchange of information between the agents and the leader to achieve a common goal. Then, in a subsequent chapter, analysis for no. of fixed-time steps required for the leader-following consensus is presented. The book also includes chapters on the design of Discrete-time Higher-order Sliding Mode (DHSM) protocols, Event-triggered DSM protocols for the leader-following consensus of DMASs. A chapter is also included on the design of DHSM protocols for leader-following consensus of heterogeneous DMASs. Special emphasis is given to the practical implementation of each proposed DSM protocol for achieving leader-following consensus of helicopter systems, flexible joint robotic arms, and rigid joint robotic arms. This book offers a ready reference guide for graduate students and researchers working in the areas of control, automation, and communication engineering, and in particular the cooperative control of multi-agent systems. It will also benefit professional engineers working to design and implement robust controllers for power systems, autonomous vehicles, military surveillance, smartgrids/microgrids, vehicle traffic management, robotic teams, and aerial robots.