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A list of articles which have been published before are put in the following:; Supervisor's Foreword; Abstract; Acknowledgments; Contents; Acronyms; Notations; 1 Introduction; 1.1 Scientific and Engineering Background; 1.2 Literature Review on Formation and Containment Control; 1.2.1 Consensus Control of Swarm Systems; 1.2.2 Formation Control of Swarm Systems; 1.2.3 Containment Control of Swarm Systems; 1.2.4 Formation-Containment Control of Swarm Systems; 1.3 Opportunities and Challenges; 1.4 Contents and the Outline; 1.4.1 Contents; 1.4.2 Outline of This Thesis; 1.5 Conclusions; References
2 Preliminaries2.1 Graph Theory; 2.2 Consensus Decomposition of Linear Space; 2.3 Matrix Theory; 2.4 Linear System Theory; 2.5 Singular System Theory; 2.6 Conclusions; References; 3 Consensus Control of Swarm Systems; 3.1 Introduction; 3.2 Problem Description; 3.3 Problem Transformation and Preliminary Results; 3.4 State Practical Consensus Analysis; 3.5 Numerical Simulations; 3.6 Conclusions; References; 4 Formation Control of Swarm Systems; 4.1 Introduction; 4.2 Time-Varying State Formation Control with Time Delays; 4.2.1 Problem Description; 4.2.2 Time-Varying State Formation Analysis
4.2.3 Time-Varying State Formation Feasibility Analysis and Protocol Design4.2.4 Numerical Simulations; 4.3 Time-Varying Output Formation Control; 4.3.1 Problem Description; 4.3.2 Time-Varying Output Formation Analysis; 4.3.3 Time-Varying Output Formation Feasibility Analysis and Protocol Design; 4.3.4 Numerical Simulations ; 4.4 Time-Varying Formation Control and Experiments ; 4.4.1 Problem Description; 4.4.2 Time-Varying Formation Analysis and Protocol Design; 4.4.3 Quadrotor UAV Formation Platform; 4.4.4 Simulation and Experimental Applications on Quadrotor UAVs; 4.5 Conclusions
6.2 State Formation-Containment Control6.2.1 Problem Description; 6.2.2 Problem Transformation and Primary Results; 6.2.3 State Formation-Containment Analysis and Protocol Design; 6.2.4 Numerical Simulations; 6.3 Output Formation-Containment Control; 6.3.1 Problem Description; 6.3.2 Problem Transformation and Preliminary Results; 6.3.3 Output Formation-Containment Analysis and Protocol Design; 6.3.4 Numerical Simulations; 6.4 Conclusions; References; 7 Conclusions and Future Work; 7.1 Conclusions; 7.2 Future Work; Index
2 Preliminaries2.1 Graph Theory; 2.2 Consensus Decomposition of Linear Space; 2.3 Matrix Theory; 2.4 Linear System Theory; 2.5 Singular System Theory; 2.6 Conclusions; References; 3 Consensus Control of Swarm Systems; 3.1 Introduction; 3.2 Problem Description; 3.3 Problem Transformation and Preliminary Results; 3.4 State Practical Consensus Analysis; 3.5 Numerical Simulations; 3.6 Conclusions; References; 4 Formation Control of Swarm Systems; 4.1 Introduction; 4.2 Time-Varying State Formation Control with Time Delays; 4.2.1 Problem Description; 4.2.2 Time-Varying State Formation Analysis
4.2.3 Time-Varying State Formation Feasibility Analysis and Protocol Design4.2.4 Numerical Simulations; 4.3 Time-Varying Output Formation Control; 4.3.1 Problem Description; 4.3.2 Time-Varying Output Formation Analysis; 4.3.3 Time-Varying Output Formation Feasibility Analysis and Protocol Design; 4.3.4 Numerical Simulations ; 4.4 Time-Varying Formation Control and Experiments ; 4.4.1 Problem Description; 4.4.2 Time-Varying Formation Analysis and Protocol Design; 4.4.3 Quadrotor UAV Formation Platform; 4.4.4 Simulation and Experimental Applications on Quadrotor UAVs; 4.5 Conclusions
6.2 State Formation-Containment Control6.2.1 Problem Description; 6.2.2 Problem Transformation and Primary Results; 6.2.3 State Formation-Containment Analysis and Protocol Design; 6.2.4 Numerical Simulations; 6.3 Output Formation-Containment Control; 6.3.1 Problem Description; 6.3.2 Problem Transformation and Preliminary Results; 6.3.3 Output Formation-Containment Analysis and Protocol Design; 6.3.4 Numerical Simulations; 6.4 Conclusions; References; 7 Conclusions and Future Work; 7.1 Conclusions; 7.2 Future Work; Index