Proofs of the Small-Gain Theorems 2.1, 3.2 and 3.6
Tengfei Liu, Zhong-Ping Jiang, David J. Hill · Automation and control engineering/Automation and control engineering series · 2014
The spatially distributed structure of complex systems motivates the idea of distributed control. In a distributed control system, the subsystems are controlled by local controllers through information exchange with neighboring agents for coordination purposes. Formation control of mobile robots is an example. The major difficulties of distributed control are due to complex characteristics such as nonlinearity, dimensionality, uncertainty, and information constraints. This chapter develops small-gain methods for distributed control of nonlinear systems.