书名：Admissible Consensus and Consensualization for Singular Multi-agent Systems（奇异多智能体系统容许一致性分析与设计）
定价：249.0
ISBN：9787030828989
作者：席建祥,王乐,杨小冈,高久安,卢瑞涛
版次：1
出版时间：2026-01

内容提要：
本书研究了高阶奇异多智能体系统容许一致性分析和设计问题，深入探索了信息延迟、外部扰动、切换拓扑、协议状态、拓扑结构和性能约束等影响因素对容许一致性的影响机理。状态空间分解方法是处理容许一致性问题的核心方法，可将奇异多智能体系统整体运动分解为两个部分：相对运动和整体运动，相对运动独立于整体运动，进而综合应用Lyapunov分析方法、线性矩阵不等式工具和广义Riccati方程方法确定了不同影响因素条件下容许一致性分析和设计的判据条件。



目录：
Contents
1 Introduction 1
1.1 Background of Consensus for Multi-agent Systems 1
1.1.1 Collective Behavior of Animal Groups in Nature 2
1.1.2 Cooperative Operation of Multi-agent Systems in Society 8
1.1.3 Consensus with Interaction Topology on Graphs 13
1.2 Basic Knowledges of Singular Multi-agent Systems 19
1.2.1 Models of Singular Multi-agent Systems 20
1.2.2 Examples of Singular Multi-agent Systems 22
1.3 Development Direction of Consensus: Literature Reviews 32
1.3.1 Consensus of Multi-agent Systems with Dynamics of Different Orders 32
1.3.2 Consensus of Multi-agent Systems with Different Interaction Topologies 41
1.3.3 Consensus of Multi-agent Systems with Cost Indexes 45
1.4 Notes 48
References 49
2 Fundamental Theory 57
2.1 Algebraic Graph Theory 57
2.1.1 Definitions 57
2.1.2 Example 59
2.2 Linear Algebra 61
2.2.1 Consensus Decomposition of Linear Space 61
2.2.2 Kronecker Product 62
2.2.3 Orthogonal Matrix 62
2.2.4 Linear Matrix Inequality 62
2.2.5 Eigenvalues and Eigenvectors 63
2.3 Linear System Theory 63
2.4 Singular System Theory 65
2.4.1 Regularity 66
2.4.2 Constrained System Equivalence and System Decomposition 66
2.4.3 Temporal Response 68
2.4.4 Admissibility 70
2.4.5 Controllability 73
2.4.6 Duality 76
2.4.7 Observability 76
2.5 Consensus for High-Order LTI Multi-agent Systems 78
2.5.1 Consensus and Consensualization 79
2.5.2 Consensus Functions 83
2.6 Notes 85
References 85
3 Admissible Consensus and Consensualization on Interaction Topology 87
3.1 Structure and Variance of Interaction Topology 88
3.1.1 Structure of Interaction Topology 88
3.1.2 Variance of Interaction Topology 90
3.2 Admissible Consensus and Consensualization with Fixed Topology 91
3.2.1 Admissible Consensus Protocol with Fixed Topology 92
3.2.2 Conditions for Admissible Consensus Analysis 93
3.2.3 Admissible Consensus Design Criteria 98
3.2.4 Consensus Functions on Fixed Topology 100
3.2.5 Numerical Simulation 102
3.3 Admissible Consensus and Consensualization with Switching Topologies 104
3.3.1 Admissible Consensus Protocol with Switching Topologies 105
3.3.2 Necessary and Sufficient Conditions for Admissible Consensus Analysis with Switching Topologies 106
3.3.3 Admissible Consensus Design Criteria: Switching Topology Case 108
3.3.4 Consensus Functions on Switching Topologies 109
3.3.5 Numerical Simulation 111
3.4 Notes 113
References 114
4 Admissible Consensus and Consensualization with Time Delays 117
4.1 Introduction of Time Delays 117
4.1.1 Classification of Time Delays 118
4.1.2 The Influence of Time Delays on Consensus Control 118
4.2 Delay-Dependent Admissible Consensus and Consensualization 119
4.2.1 Dynamic Output Feedback Consensus Protocol with Time Delays 120
4.2.2 Necessary and Sufficient Conditions for Delay-Dependent Admissible Consensus Analysis 121
4.2.3 Delay-Dependent Admissible Consensus Design Criteria 124
4.2.4 Consensus Functions 129
4.2.5 Numerical Simulation 132
4.3 Admissible Output Consensualization with Time Delays 133
4.3.1 Output Consensus Protocol with Local Delayed Output Information 134
4.3.2 Conditions of Admissible Output Consensus Design with Time Delays 135
4.3.3 Output Consensus Functions 141
4.3.4 Numerical Simulation 144
4.4 Notes 146
References 146
5 Admissible L？ Consensus and Consensualization with External Disturbances 149
5.1 Properties of External Disturbances 150
5.1.1 Disturbance Types 150
5.1.2 Disturbance Suppression Methods 151
5.2 Problem Description of Admissible L？ Consensus Control 153
5.3 Admissible L？ Consensus with External Disturbance 155
5.3.1 Necessary and Sufficient Conditions for Admissible Consensus Without Disturbance 155
5.3.2 Admissible L？ Consensus Function 157
5.3.3 Admissible L？ Consensus Analysis and Design Criteria 159
5.4 Numerical Simulation 166
5.5 Notes 168
References 168
6 Admissible Consensus and Consensualization with Protocol State Constraints 173
6.1 Dynamic Output Feedback Protocol 174
6.1.1 Static Output Feedback Consensus Protocol 174
6.1.2 Dynamic Output Feedback Consensus Protocol 175
6.1.3 Stable Consensus Protocol 176
6.2 Stable-Protocol Admissible Consensus with Time Delays 178
6.2.1 Singular Dynamic Output Feedback Consensus Protocol 178
6.2.2 Stable-Protocol Admissible Consensus Analysis Conditions 180
6.2.3 Consensus Functions 184
6.2.4 Numerical Simulation 189
6.3 Stable-Protocol Admissible Consensualization with Switching Topologies 190
6.3.1 Problem Description and Transformation 192
6.3.2 Admissible Consensus Criteria for Connected Switching Topology Cases 200
6.3.3 Admissible Consensus Criteria for Jointly Connected Switching Topology Cases 202
6.3.4 Numerical Simulation 205
6.4 Notes 210
References 211
7 Admissible Consensus and Consensualization with Energy Constraints 213
7.1 Problems of Optimal and Suboptimal Consensus 214
7.1.1 Decentralized Optimization Cooperative Control 214
7.1.2 Global Optimization Cooperative Control 215
7.2 Problem Description of Guaranteed-Cost Admissible Consensus 218
7.3 Conditions of Guaranteed-Cost Admissible Consensus Analysis and Design 220
7.3.1 Guaranteed-Cost Admissible Consensus Analysis Criteria 221
7.3.2 Conditions of Guaranteed-Cost Admissible Consensus Design 226
7.3.3 Consensus Functions 228
7.4 Numerical Simulation 230
7.5 Notes 236
References 236
8 Admissible Formation Tracking with Energy Constraints 239
8.1 Problems of Formation Control 240
8.1.1 Time-Invariant Formation 240
8.1.2 Time-Varying Formation 241
8.1.3 Formation Tracking Problems 242
8.1.4 Leaderless Formation Control Problems 243
8.1.5 Formation Control Examples of Multiple UAVs 244
8.2 Formation Tracking Control Protocol with Energy Constraint 246
8.3 Energy-Constraint Admissible Formation Tracking Criteria 249
8.3.1 Case of Switching Topologies Containing a Spanning Tree 249
8.3.2 Case of Switching Topologies Containing a Joint Spanning Tree 256
8.4 Numerical Simulation 261
8.5 Notes 267
References 270