Cooperative Control Design: A Systematic, Passivity-Based Approach discusses multi-agent coordination problems, including formation control, attitude coordination, and synchronization. The goal of the book is to introduce passivity as a design tool for multi-agent systems, to provide exemplary work using this tool, and to illustrate its advantages in designing robust cooperative control algorithms. The discussion begins with an introduction to passivity and demonstrates how passivity can be used as a design tool for motion coordination. Followed by the case of adaptive redesigns for reference...

This book addresses a major problem for today's large-scale networked systems: certification of the required stability and performance properties using analytical and computational models. On the basis of illustrative case studies, it demonstrates the applicability of theoretical methods to biological networks, vehicle fleets, and Internet congestion control. Rather than tackle the network as a whole --an approach that severely limits the ability of existing methods to cope with large numbers of physical components-- the book develops a compositional approach that derives network-level...