Description

These lecture notes, now at edition 1.4 - July 1, 2020, provide a mathematical introduction to multi-agent dynamical systems, including their analysis via algebraic graph theory and their application to engineering design problems. The focus is on fundamental dynamical phenomena over interconnected network systems, including consensus and disagreement in averaging systems, stable equilibria in compartmental flow networks, and synchronization in coupled oscillators and networked control systems. The theoretical results are complemented by numerous examples arising from the analysis of physical and natural systems and from the design of network estimation, control, and optimization systems. Since revision 1.0 on May 1, 2018, revision 1.4 includes a new chapter on diffusively-coupled systems and numerous extensive changes to existing chapters.