| Acknowledgement | 第5-6页 |
| Abstract | 第6页 |
| Acronyms | 第11页 |
| Notations | 第11-12页 |
| CHAPTER 1 Introduction | 第12-26页 |
| 1.1 Distributed cooperative control | 第12-14页 |
| 1.2 Overview of consensus in multi-agent systems | 第14-15页 |
| 1.3 Related works on consensus of MASs under measurement/ communication noises andtime-delays | 第15-23页 |
| 1.3.1 Consensus under measurement/communication noises | 第16-21页 |
| 1.3.2 Consensus under measurement/communication noises and time-delays | 第21-23页 |
| 1.4 Contributions and challenges | 第23-24页 |
| 1.5 Thesis Structure | 第24-26页 |
| CHAPTER 2 Background | 第26-32页 |
| 2.1 Graph theory review | 第26-27页 |
| 2.2 Useful definitions and lemmas | 第27-32页 |
| CHAPTER 3 Consensus of double-integrator MASs under non-statedependent measurement/communication noises | 第32-60页 |
| 3.1 Consensus of double-integrator MASs without relative-state derivatives under non-statedependent measurement/communication noises in directed topologies | 第32-48页 |
| 3.1.1 Problem formulation | 第33页 |
| 3.1.2 Consensus protocol | 第33-45页 |
| 3.1.3 Simulations | 第45-47页 |
| 3.1.4 Conclusion | 第47-48页 |
| 3.2 Leader-following consensus of double-integrator MASs under non-state dependentmeasurement/communication noises in directed topologies | 第48-60页 |
| 3.2.1 Problem formulation | 第48-49页 |
| 3.2.2 Consensus protocol | 第49-56页 |
| 3.2.3 Simulations | 第56-58页 |
| 3.2.4 Conclusion | 第58-60页 |
| CHAPTER 4 Consensus of single-integrator MASs under relative-statedependent measurement/communication noises | 第60-88页 |
| 4.1 Leader-following consensus of single-integrator MASs under relative-state dependentmeasurement/communication noises in directed topologies | 第60-75页 |
| 4.1.1 Problem formulation | 第60-61页 |
| 4.1.2 Consensus protocol | 第61-71页 |
| 4.1.3 Simulations | 第71-73页 |
| 4.1.4 Conclusion | 第73-75页 |
| 4.2 Leaderless consensus of single-integrator MASs under relative-state dependentmeasurement/communication noises in switching topologies | 第75-88页 |
| 4.2.1 Problem formulation | 第75-76页 |
| 4.2.2 Consensus protocol | 第76-84页 |
| 4.2.3 Simulations | 第84-85页 |
| 4.2.4 Conclusion | 第85-88页 |
| CHAPTER 5 Consensus of single-integrator MASs under measurement/ communication noises and time-delays | 第88-128页 |
| 5.1 Leaderless consensus of single-integrator MASs under non-state dependent measurement/communication noises and time-delays in directed fixed topologies | 第88-101页 |
| 5.1.1 Problem formulation | 第89-90页 |
| 5.1.2 Consensus protocol | 第90-97页 |
| 5.1.3 Simulations | 第97-100页 |
| 5.1.4 Conclusion | 第100-101页 |
| 5.2 Leader-following consensus of single-integrator MASs under non-state measurement/ communication noises and time-delays in directed topologies | 第101-113页 |
| 5.2.1 Problem formulation | 第101-102页 |
| 5.2.2 Consensus protocol | 第102-109页 |
| 5.2.3 Simulations | 第109-112页 |
| 5.2.4 Conclusion | 第112-113页 |
| 5.3 Leader-following consensus of single-integrator MASs under relative-state dependentmeasurement/communication noises and time-delays in directed fixed topologies | 第113-128页 |
| 5.3.1 Problem Formulation | 第113-114页 |
| 5.3.2 Consensus protocol | 第114-122页 |
| 5.3.3 Simulations | 第122-126页 |
| 5.3.4 Conclusion | 第126-128页 |
| Conclusion and Future Work | 第128-132页 |
| The published, accepted and under review articles written during the preparation of the Ph D | 第132-134页 |
| Bibliography | 第134-140页 |
