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Dong Yue · Huaipin Zhang ·
Shengxuan Weng

Distributed
Cooperative Control
and Communication
for Multi-agent
Systems
Distributed Cooperative Control
and Communication for Multi-agent Systems
Dong Yue · Huaipin Zhang · Shengxuan Weng

Distributed Cooperative
Control and Communication
for Multi-agent Systems
Dong Yue Huaipin Zhang
Nanjing University of Posts Nanjing University of Posts
and Telecommunications and Telecommunications
Nanjing, Jiangsu, China Nanjing, Jiangsu, China

Shengxuan Weng
Nanjing University of Posts
and Telecommunications
Nanjing, Jiangsu, China

ISBN 978-981-33-6717-3 ISBN 978-981-33-6718-0 (eBook)

https://doi.org/10.1007/978-981-33-6718-0

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature
Singapore Pte Ltd. 2021
This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether
the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse
of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and
transmission or information storage and retrieval, electronic adaptation, computer software, or by similar
or dissimilar methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication
does not imply, even in the absence of a specific statement, that such names are exempt from the relevant
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The publisher, the authors and the editors are safe to assume that the advice and information in this book
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The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721,
Singapore
Preface

With the popularization of intelligent devices and the rapid development of commu-
nication technology, modern control systems exhibit two prominent features, namely
structural interactivity and functional complexity. The former roots in the couplings
of systems while the latter represents the complex task to be realized. In this case,
multi-agent systems (MASs) are introduced to address these two issues. In general,
MASs consist of a group of connected autonomous agents integrating distributed
sensing, communication, computing, and control in a networked environment, in
which these agents can cooperate with each other and share information with their
neighbors to accomplish a complex task together. Compared with an individual agent,
MASs have several advantages, such as reliability, adaptivity, robustness, scalability,
low cost of operation and maintenance, etc. Recently, MASs and their concomitant
cooperation problems have received considerable attention in many fields, such as
biology, physics, artificial intelligence, and engineering.
To achieve a desired global goal, two interesting and crucial issues will be consid-
ered in multi-agent cooperation. One is system-level question, which involves how
to coordinate and control such systems or agents; The other is network-level ques-
tion related to how information among agents could be transmitted, especially in an
efficient way since communication resources are often limited. The former question
comes down to cooperative control protocol design while the latter to cooperative
communication scheme design. Thus, these two aspects, which are important hand-
grips to deal with cooperation problems of MASs, will be investigated in this book.
In general, cooperative control aims to drive a group of agents to reach an agreement
on a common quantity of interest. A key issue of cooperative control is how to design
an information flow algorithm which describes the rules of information interaction
between adjacent agents. Depending on the differences of information interaction and
processing unit of data fusion, cooperative control can be classified into three config-
uration modes: centralized, decentralized, and distributed ones. In large-scale MASs,
centralized framework increases communication cost and computing burden while
decentralized scheme lacks the information interaction among agents to achieve
cooperation. Thus, it is preferable to employ distributed cooperative control which
depends only on local interactions among the neighbor agents. This monograph
mainly focuses on the various classes of distributed MASs cooperation problems.
v
vi Preface

During the design and implementation of distributed cooperative control,

constrained communication resources of the shared network play a vital role. In
general, time-triggered communication scheme is an underlying assumption in a
conventional cooperative control setting. Yet time-triggered strategy, in which agent
accesses the continuous information of its neighbors periodically, may lead to heavy
consumption of communication and computation, especially when the system tends
nearly to be stable or no disturbances are imposed on the system. Thus, it is urgent
to design a suitable communication scheme which can reduce the consumption of
communication resources while ensuring the desired performance of MASs. Event-
triggered communication mechanism is introduced into the cooperation problems of
MASs. In an event-triggered scheme, the time instants when data transmissions
and control updates of the agents are judged by the predesigned trigger condi-
tions depending on the measurements of itself and its neighborhoods. These two
cooperative communication scheme will be another research topic of this book.
The books are structured as follows: (1) Chap. 1 presents the introduction of the
developments of distributed MASs cooperation and analyzes cooperative control
method and communication framework of MASs; (2) Chaps. 2 and 3 focus on
distributed cooperation problem of linear homogeneous and heterogeneous MASs;
(3) The consensus problems of nonlinear MASs with communication delays and
state saturations are investigated in Chaps. 4 and 5; (4) The cooperation framework
is applied to multiple rigid body systems in Chaps. 6 and 7; (5) Data-driven method
is employed to address the cooperative control problem while minimizing the system
performance in Chaps. 8 and 9.
We are indebted to the collaborations with Dr. Xiuxia Yin, Yang Yang, and
Hongjun Chu on the work of linear and nonliear MASs cooperation. The work
was supported by the Natural Science Foundation of Jiangsu Province of China
under grant BK20202011, the National Key R&D Program of China under grant
2018YFA0702200, the National Natural Science Foundation of China under grant
61533010, 61903199 and 62073170, and the Natural Science Foundation of Colleges
and Universities of Jiangsu Province under grant 19KJB120004.

Nanjing, China Dong Yue

September 2020 Huaipin Zhang
Shengxuan Weng
Contents

1 Overview of Multiagent Systems Cooperation . . . . . . . . . . . . . . . . . . . . . 1

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Cooperative Control of Multiagent Systems . . . . . . . . . . . . . . . . . . . . 1
1.2.1 Model-Based Cooperative Control Method . . . . . . . . . . . . . . 2
1.2.2 Data-Driven Cooperative Control Method . . . . . . . . . . . . . . . 3
1.3 Cooperative Communication of Multiagent Systems . . . . . . . . . . . . . 4
1.4 Contribution of This Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.5 Book Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Part I Distributed Cooperative Control of Linear Multi-agent

Systems
2 Distributed Event-Triggered Consensus Control
of Homogeneous Multiagent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Distributed Consensus Control Design and Analysis . . . . . . . . . . . . . 19
2.2.1 Distributed Adaptive Event-Triggered Strategy . . . . . . . . . . . 19
2.2.2 Distributed Consensus Control Design . . . . . . . . . . . . . . . . . . 20
2.2.3 Modeling of The Closed-Loop Systems . . . . . . . . . . . . . . . . . 24
2.2.4 Consensus Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.3 Uniform Delay Case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.4 Simulation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3 Distributed Event-Triggered Tracking Control
for Heterogeneous Multiagent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.2 Event-Triggered Tracking Control Design . . . . . . . . . . . . . . . . . . . . . . 44
3.3 Consensus Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 Simulation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

vii
viii Contents

3.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Part II Distributed Cooperative Control of Nonlinear

Multi-agent Systems
4 Distributed Formation Tracking Conrol of Nonlinear
Mutiagent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.2 Formation Tracking Control Strategy Design . . . . . . . . . . . . . . . . . . . 69
4.3 Simulation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.3.1 A Team of Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.3.2 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5 Distributed Consensus Control of Nonlinear Multiagent
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.2 Continuous Consensus Protocol Design . . . . . . . . . . . . . . . . . . . . . . . . 85
5.3 Intermittent Consensus Protocol Design . . . . . . . . . . . . . . . . . . . . . . . 91
5.4 Adaptive Consensus Protocol Design . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.5 Extension to Output Feedback Case . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.6 Applications in Constrained Preserving Connectivity . . . . . . . . . . . . 96
5.7 Simulation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.7.1 Application to Aircraft Team . . . . . . . . . . . . . . . . . . . . . . . . . . 99
5.7.2 Application to Connectivity Preservation . . . . . . . . . . . . . . . . 100
5.8 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Part III Distributed Cooperative Attitude Control of Multiple

Rigid Body Systems
6 Distributed Event-Triggered Attitude Cooperative Control
of Multiple Rigid Body Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
6.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
6.2 Inter-Group Anti-consensus Algorithms . . . . . . . . . . . . . . . . . . . . . . . 113
6.3 Intra-Group Event-Triggered Synchronization Algorithms . . . . . . . . 115
6.4 Simulation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
6.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7 Distributed Robust Attitude Containment Control for Multiple
Rigid Body Sysems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.2 Attitude Containment Control Law Design . . . . . . . . . . . . . . . . . . . . . 129
7.2.1 The Sliding-mode Surface Design . . . . . . . . . . . . . . . . . . . . . . 129
Contents ix

7.2.2 Sliding-mode Attitude Containment Control Design . . . . . . . 134

7.2.3 Adaptive Sliding-mode Attitude Containment Control
Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7.3 Simulation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.3.1 Sliding-mode Attitude Containment Control . . . . . . . . . . . . . 144
7.3.2 Adaptive Sliding-mode Attitude Containment Control . . . . . 146
7.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Part IV Distributed Data-Driven Optimal Consensus Control for

Multi-agent Systems
8 Data-Driven Optimal Consensus Control for Linear Multiagent
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
8.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.2 Problem Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.3 Optimal Consensus Control Design . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
8.3.1 Optimal Consensus Control for Delay-free Multiagent
Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
8.3.2 Nash Equilibrium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
8.4 Policy Iteration Algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
8.5 Data-driven Approximation Solutions for The Coupled HJB
Equations by Critic-Actor Neural Networks . . . . . . . . . . . . . . . . . . . . 165
8.5.1 Critic Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
8.5.2 Actor Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
8.6 Simulation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
8.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
9 Data-Driven Event-Triggered Optimal Consensus Control
for Nonlinear Multiagent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
9.2 Event-Triggered Optimal Consensus Control Design . . . . . . . . . . . . . 175
9.3 Online Solution of Optimal Consensus Controllers Using
Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
9.3.1 ETADP Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
9.3.2 Smart Critic-Action Neural Networks Design . . . . . . . . . . . . 178
9.3.3 Stability Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
9.4 Simulation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
9.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Appendix: Algebraic Graph Theorys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Acronyms

∀ For all
∈
 Belong to
Summation
⊗ Kronecker products
∪ Union operator
◦ Compound operator
sup Supremum
inf Infimum
R Set of real numbers
Rn n dimensional real Euclidean space
Rn×m n × m dimensional real matrix space
A Real matrix A
AT Transpose of matrix A
A−1 Inverse of matrix A
λi (A) The ith eigenvalue of matrix A
λmax (A) The maximum eigenvalue of matrix A
λmin (A) The minimum eigenvalue of matrix A
A>0 Symmetric positive definite A
A≥0 Symmetric positive semi-definite A
|x| Absolute value of x
xp p-norm of vector x
Ap Induced p-norm of matrix A
0n×m n × m zero matrix
In n × n identity matrix

xi
Chapter 1
Overview of Multiagent Systems
Cooperation

1.1 Introduction

During the rapid and sustained development of industrial and civilian demand, mod-
ern control systems are becoming more and more open, complex, heterogeneous
and highly distributed. Under this circumstance, it is expected to build new engi-
neering styles to achieve many complex coordination tasks, which is difficult to be
implemented based on individual agent. Multi-agent system (MAS), which imposes
a group of connected autonomous agents operating through distributed sensing, com-
munication, computing, and control in a networked environment to achieve a certain
system goal, is regarded as a promising and effective system architectural to cope
with these coordination problems. In the network of MAS, each agent is described by
a node and the connections among agents are represented by edges. To cooperate with
other agents, each agent needs to share information with its neighbor agents through
the edges so as to reach agree on a common quantity of interest. In comparison
with an individual agent, MASs have some prominent advantages, including strong
robustness and reliability, high scalability and efficiency, manipulability, large-scale
spatial distribution. MASs have attracted considerable research attention from vari-
ous fields, including biology, computer science, robotics and engineering during the
last decade, this is mainly due to the widespread application in scientific comput-
ing [1, 2], distributed artificial intelligence [3, 4], space exploration [5, 6], mobile
robotics [7, 8], power systems [9, 10], search and rescue [11, 12].

1.2 Cooperative Control of Multiagent Systems

In the control design of MASs, the main objective is to make all agents operate
in a cooperative fashion through a control protocol. Here, cooperative refers to a
close relationship among agents, where all agents can achieve a certain common

© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021 1
D. Yue et al., Distributed Cooperative Control and Communication for Multi-agent
Systems, https://doi.org/10.1007/978-981-33-6718-0_1
2 1 Overview of Multiagent Systems Cooperation

agreement. Depending on the difference of coordinated tasks and interaction com-

munication of agents, cooperative control is roughly classified into three categories:
consensus control, formation control, containment control. Numerous results con-
cerning cooperative control have appeared [13–17] recently. A key issue on coop-
erative control is how to design an appropriate control protocol by making use of
global/local interaction information among the neighboring agents to achieve a col-
lective behavior. In recent, an amount of research efforts have been made in analyzing
the control method for multi-agent cooperative control, in which they are classified
into two types: model-based control approaches and data-driven control techniques.
More details are descried as following.

1.2.1 Model-Based Cooperative Control Method

The traditional approaches of designing MASs usually involve developing a mathe-

matical model describing the dynamics of the agents, and then applying analytical and
synthesis techniques to the development model to derive a suitable stability control
protocol. In general, such a mathematical model of MAS consists of state-space equa-
tions, most of which are obtained using some identification and estimation methods.
This approach is often termed model-based control which has been fully developed
to be a relatively mature theory. Numerous research on model-based approaches for
cooperative control of MASs are found in [13, 14, 18, 19].
For linear MASs, Olfati-Saber and Murray in [20, 21] introduced the theoretical
framework of model-based consensus control problems. To judge the existence of
consensus under a model-based control protocol, the consensusability problem was
presented in [22–24]. The authors of [25–28] designed the model-based cooperative
control protocols for both the first-order continuous-time and discrete-time MASs.
In [29, 30], Li et al. employed H∞ performance allocation method to study coopera-
tive output regulation problems of heterogeneous MASs. In [31–33], observer-based
leader-following consensus problems of MASs was investigated, where various dis-
tributed model-based consensus control protocols are proposed. Dong in [34] con-
sidered consensus issue of high-order nonlinear MASs with uncertainty, distributed
dynamic consensus controller was designed with the aid of an inner-loop and outer-
loop approach.
Extensive efforts of model-based formation control design of MASs were found
in [35–39]. In [40], a comprehensive review on model-based formation control strate-
gies of multiple unmanned ground vehicles was presented. To guarantee the transient
performance of the closed-loop systems, Mehdifar et al. [41] proposed decentralized
robust distance-based formation control algorithm of MASs affected by unknown
external disturbances. In constrained environments, model-based optimal dynamic
formation issue of leader-follower MASs was addressed in [42]. [43, 44] focused on
output regulation issues of heterogeneous MASs.
The containment control problems of continuous-time and discrete-time MASs
were discussed in [25, 45, 46], in which distributed control laws based on the rel-
1.2 Cooperative Control of Multiagent Systems 3

ative states and outputs of neighborhood are constructed. In [25, 47], adaptive and
asynchronous output containment control of heterogeneous MASs were considered.
The analysis on distributed finite-time attitude containment control for multiple rigid
bodies was presented in [48, 49], which can drive the attitudes of the followers into
the convex hull formed by the one of leaders. Qi et al. [50] proposed a distributed
event-triggered fuzzy bipartite containment controller of nonlinear MASs with input
quantization over a signed digraph, in which a fuzzy observer was designed to esti-
mate unmeasured states.

1.2.2 Data-Driven Cooperative Control Method

In the past few decades, the ever-increasing complexity of modern industrial systems
has made it more and more difficult to build the accurate physical models using the
first principles. Even though the physical models of the plants can be obtained, it may
be difficult to use model-based control theory for controller design and performance
evaluation since the models are too complex. With the rapid development of infor-
mation technology, modern industrial processes can easily collect a large number of
measured process data which contain stored historical data and online real-time data.
In the case of failure of model-based control theory, how to use these measurable
data for controller design, state prediction and performance evaluation is an impor-
tant and urgent problem. In order to solve this issue, data-driven control, which can
directly utilize measurable input/output data to design the controller, was introduced
in [51–54]. In what follows, two typical data-driven methods will be utilized to study
the cooperation control problems.
(i) Iterative learning control
Iterative Learning Control (ILC) is an intelligent learning control methodology which
can improve the transient performance of the system in the current iteration by using
the past control experience. It can effectively deal with repetitive control process in
a finite duration and requires only process measurements instead of accurate system
model. Recently, ILC has been extensively applied to study the cooperative control
problems [55–63]. In [55], Ahn and Chen introduced ILC to consider the formation
control problem of MASs with continuous nonlinear dynamics. Then formation-
based ILC were extended to investigate MASs with switching topologies and actuator
faults in [56, 57, 60]. Bu et al. [62] employed the terminal ILC method to discuss
the finite-time consensus problem of nonlinear MASs with unknown dynamics and
output saturation, where data-driven consensus protocols are developed. In [58] and
[59], formation tracking control of second-order and high-order MASs were studied
based on ILC approach. Hua et al. [63] introduced an event-triggered mechanism
into ILC framework to solve the containment control problem of model-free MASs.
4 1 Overview of Multiagent Systems Cooperation

(ii) Adaptive dynamic programming

Adaptive dynamic programming (ADP) integrating reinforcement learning and adap-
tive control has provided an effective way to learn the HJB equations forward-in-time.
Recently, ADP technique has been extensively used in MASs [64–71] which showed
that it is a promising method to deal with optimal consensus control problems. In [67],
an online algorithm was proposed to address optimal coordination control problem
for nonlinear MASs through fuzzy ADP. References [64, 65] adopted ADP method
to obtain adaptive learning solutions for multi-agent graphical games based on pol-
icy/value iteration algorithms. In [66, 72, 73], distributed adaptive output feedback
controllers based on ADP have been developed to treat with output regulation of lin-
ear heterogeneous MASs. In order to address optimal consensus problem for MASs
with external disturbances, [74] proposed a distributed adaptive optimal tracking
controller by ADP technique.

1.3 Cooperative Communication of Multiagent Systems

In the analysis and synthesis of distributed cooperative control protocol, communi-

cation mechanism and controller actuation scheme are the prominent roles. In gen-
eral, there are two scheduling and controlling scheme: time-triggered strategy [13,
75–78] and event-triggered strategy [14, 79–81]. In the time-triggered control, the
controller updates of agents and information interaction between agents are carried
out periodically. This kind of triggering mechanism may generate many unnecessary
controller actuation and data transmission, which will increase the computational
burden and communication pressure of the system. To mitigate the load caused by
high frequency of transmitting and control executions of time-triggered method,
event-triggered control mechanism is introduced in [80].
Recently, event-triggered control (ETC), which advocates the implementation of
data transmission and control updates only when the predefined rules are violated,
has attracted considerable attention [14, 17, 81–83]. In the ETC, the fundamental
rationale is that how to judge the triggering instants depending on a predesigned
triggering mechanism which is closely related to the agents states [80]. When the
designed triggered condition is violated, the current states of the system should
be transmitted and the controllers are updated. In this case, data transmission and
control updates are performed only when needed, thus the ETC approach can effec-
tively reduce the unnecessary utilization of limited communication and computation
resources compared to time-triggered control [81].
Since Dimarogonas et al. [83] introduced the ETC method to MASs, the research
on event-triggered cooperation control has achieved fruitful results. In [83], the cen-
tralized event-triggered controller was designed for first-order MASs in which the
state information of all agents was required to a centralized decision maker and then
the controllers were updated simultaneously. In addition, a distributed fashion was
also introduced into ETC depended only on the information of itself and the neighbor
1.3 Cooperative Communication of Multiagent Systems 5

agents which can further reduce data transmission and control updates. Some related
results on single-integrator MASs [84–86] and double-integrator MASs [87, 88] can
be found.

1.4 Contribution of This Book

This book investigates the distributed cooperation problems of MASs which mainly
considers two factors that affect cooperation: distributed controller design and suit-
able communication strategy design. Thus distributed cooperation control design
analysis of linear, nonlinear MASs and multiple rigid bodies are the first contribu-
tion of this book. Secondly, the proposed two kinds of communication strategies are
another contribution. The more detailed contributions of this book are summarized
as follows:

• By combining the distributed event-triggered communication scheme together

with the networked networked predictive control scheme, distributed model-based
event-triggered predictive control (D-MB-ETPC) method is proposed. The current
states of agents are predicted efficiently based on available historical local event-
triggered information and so the predictive controllers can be constructed. The
proposed D-MB-ETPC has the advantages of reducing the utilization of the limited
network resources significantly, compensating for the networked communication
delays actively, and guaranteeing the desired consensus control performance.
• A novel distributed event-triggered communication scheme of discrete-time het-
erogeneous MASs with random communication delays is proposed. Sufficient
conditions is developed to guarantee the consensus in mean square sense. Com-
pared with the existing method, the designed event-triggered functions have several
parameters that can be adjusted to reduce the communication burden and preserve
the consensus performance of the MASs investigated.
• A time-varying formation tracking strategy is presented for uncertain nonaffine
nonlinear MASs with communication delays. Based on active disturbance rejec-
tion control method, the nonaffine nonlinear MASs are transformed into affine
nonlinear ones with uncertainties. Then the proposed strategy compensates uncer-
tainties, in real time, by estimations of the extended states and it provides an effec-
tive method for the MASs information tracking control. The problem of explosion
of complexity is overcome in formation tracking control of higher-order MASs,
and the tracking differentiators estimate the derivatives of the desired signal and
the virtual control variables. Unlike the traditional backstepping-based formation
control schemes, the TDs are introduced to eliminate the requirement of the oper-
ations of higher-order derivatives of virtual control variables.
• Three types of protocols, namely continuous,intermittent, and adaptive state feed-
back protocols are proposed for achieving consensus of nonlinear MASs subject
to the relative state saturations. Then consensus of general linear MASs with
Lipschitz nonlinearity is extended to the case with relative state saturations and
6 1 Overview of Multiagent Systems Cooperation

stability of a single system under state saturation to consensus of MASs under

relative states saturation. In contrast with the existing consensus problems which
the relative states are constrained by hyperbolic tangent function, we will pro-
pose three types of state feedback protocols and the extension to output feedback
case, with relative states being constrained to a hypercube. The resulting challenge
of this extension is how to translate consensus with the relative state saturations
into stability of edge dynamics systems operating on a constrained set, and how
to construct saturation functions and controllers for stabilizing the edge systems
subjected to a constrained set.
• Distributed event-triggered cooperative attitude control protocol of multiple groups
of rigid bodies evolved on nonlinear manifold SO(3) is developed. Different from
the conventional attitude synchronization, the multiple attitude agreements con-
trol is considered. A multi-group control architecture is designed, where one rigid
body in each group is considered as the leader and the other rigid bodies are con-
sidered as followers. The designed intra-group cooperative controllers drive the
attitude of followers in each group to that of the leader located in this group, and
the constructed inter-group cooperative controllers drive all the attitudes of lead-
ers to an anti-consensus configuration. The two kinds of distributed cooperative
control algorithms accomplish the multiple attitude agreements task.
• Distributed robust finite-time attitude containment control law for multiple rigid
bodies with uncertainties including parametric uncertainties, external distur-
bances, and actuator failures is firstly investigated. A sliding-mode surface is
designed such that the state of each rigid body on this surface will converge to
the desired value in a finite time. Based on this surface, two different types of
distributed controllers are constructed under two different cases, respectively and
both of them can drive the orientations of the followers into the convex hull formed
by the orientations of leaders in a finite time.
• Data-driven distributed optimal consensus control problem for unknown MASs
with input delays is addressed using adaptive dynamic programming method. A
model reduction method is utilized to deal with input delays so as to convert
inputdelayed MAS model into a delay-free one. Meanwhile, by establishing an
equivalent relationship on the performance indices of the two MASs, optimal con-
sensus control of inputdelayed MAS can be fully transformed to that of delay-free
MAS. Then we develop a PI algorithm based on distributed asynchronous update
mechanism to online learn the solutions of the coupled HJB equations. Distributed
asynchronous scheme reduces computation and alleviates the occupation of net-
work in comparison with the existing distributed synchronized PI method. The
critic-actor neural networks can be utilized to approximate the value functions and
control policies only using measurement data instead of the system identification
methods, the approximation technique can avoid the approximation residual errors
caused by system identification
• An optimal consensus control algorithm for unknown nonlinear MASs with control
constraints is proposed. A new event-triggered adaptive dynamic programming
schematic diagram which includes smart critic network and smart action network
1.4 Contribution of This Book 7

is built. Under the event-triggered sampling mechanism, the weights of the critic-
action networks are only updated at the triggering instants. This aperiodic updated
scheme can save computation resource and reduce transmission load compared
with the time-triggered adaptive dynamic programming method.

1.5 Book Organization

This book is organized as follows: Chap. 1 reviews the developments of distributed

multiagent systems cooperation, and presents the analysis and synthesis of cooper-
ative control method and communication framework of MASs. Part I composes of
Chaps. 2 and 3, which focus on distributed cooperation problem of linear homo-
geneous and heterogeneous MASs. Part II consists of Chaps. 4 and 5, studying
consensus problems of nonlinear MASs with communication delays and state satu-
rations. Then the cooperation framework is applied to multiple rigid body systems
in Part III including Chaps. 6 and 7. Part IV containing Chaps. 8 and 9 imposes ADP
technique to address the optimal cooperative control problem.
In Chap. 2, the consensus problem for discrete-time MASs with communication
delays is investigated using adaptive model-based event-triggered predictive control.
Based on the event-triggered communication scheme together with the networked
predictive control scheme, a novel distributed adaptive model-based event-triggered
predictive control protocol is proposed to reduce the network communication burden
and meanwhile compensate for the communication delays actively. By using the
virtual interval segmentation technique and the time-delay modeling method together
with defining a set of switching signals, the closed-loop systems are established in
forms of switching time-delay systems. The problem of simultaneously deriving
the controller gain matrix and the event-triggering parameter matrices is cast into
standard linear matrix inequalities problem.
In Chap. 3, event-triggered tracking control algorithm for heterogeneous MASs
with Markov communication delays is proposed. Distributed consensus control is
firstly designed by employing the event-triggered communication technique, which
can lead to a significant reduction of the information communication burden in the
multi-agent network. Then, the mean square stability of the closed loop MASs is
analyzed based on the Lyapunov functional method and the Kronecker product tech-
nique. Sufficient conditions are obtained to guarantee the consensus in terms of linear
matrix inequalities.
In Chap. 4, time-varying formation tracking issue for a class of uncertain non-
affine nonlinear MASs with communication delays is addressed. The agents are
connected though a directed topology, and the non-affine problem is transformed
into affine problem using the idea of active disturbance rejection control . The uncer-
tainties of individual followers in the MAS are approximated via the extended state
observers and are compensated in real time. Tracking differentiators are introduced
to overcome the explosion of complexity in the derivatives of the desired signal
and the virtual control variables. Local information from neighboring followers are
8 1 Overview of Multiagent Systems Cooperation

utilized, and the Lyapunov-Krasovskii function is employed to analyse the stability

theoretically.
In Chap. 5, continuous, intermittent and adaptive state feedback protocols are
respectively proposed for achieving the constrained consensus of nonlinear MASs
with relative state saturations. Utilizing the incidence matrix and the edge Laplacian,
the consensus problem of nonlinear MASs with the relative state saturations can be
cast into the stabilization problem of edge dynamics operating on the constrained set.
Three types of protocols, namely continuous, intermittent and adaptive state feedback
protocols are respectively proposed for achieving the constrained consensus, and
meanwhile yielding consensus values. A consensus analysis is provided by virtue
of state saturation theory, switched system theory, adaptive theory and Lyapunov
stability theory. Output feedback protocol is also designed. Finally, the obtained
results are applied to connectivity preservation for first order nonlinear MASs, despite
the presence of limited communication range and input constraints.
In Chap. 6, distributed event-triggered cooperative attitude control of multiple
groups of rigid bodies evolved on nonlinear manifold S O(3) is investigated. The
distributed event-triggered mechanism is introduced into the controller design to
reduce the communication pressure. It is verified that, the orientations of rigid bodies
in each group converge to a common value with zero angular velocities, and these
common values in all groups achieve an anti-consensus configuration under the
proposed intra- and inter-group cooperative control law.
In Chap. 7, distributed robust finite-time attitude containment control for multiple
rigid bodies with uncertainties including parametric uncertainties, external distur-
bances and actuator failures is studied. Two types of distributed control laws are
designed corresponding to two different cases respectively, and both of them can
drive the orientations of the followers into the convex hull formed by the orientations
of leaders in a finite time.
In Chap. 8, data-driven distributed optimal consensus control protocol for unknown
MASs with input delays is proposed. The input-delayed MAS model is firstly con-
verted into a delay-free form using a model reduction method. By establishing an
equivalent relationship on the predesigned performance indices of the two MASs,
optimal consensus control of input-delayed MAS can be fully transformed to that
of delay-free MAS. Based on the coupled Hamilton-Jacobi equations and Bellman’s
optimality principle, optimal consensus control policies are derived for the trans-
formed delay-free MAS. Then a policy iteration algorithm based on distributed
asynchronous update mechanism is proposed to learn the coupled Hamilton-Jacobi-
Bellman equations online. To perform the proposed data-driven adaptive dynamic
programming algorithm, we adopt the measured data based critic-actor neural net-
works to approximate the value functions and the control policies, respectively.
In Chap. 9, event-triggered adaptive dynamic programming technique is used to
consider optimal consensus control problem for unknown nonlinear MASs subjected
to control constraints. To deal with the control constraints, we introduce nonquadratic
energy consumption functions into performance indices and formulate the Hamilton-
Jacobi-Bellman equations. Then, based on the Bellman’s optimality principle, con-
1.5 Book Organization 9

strained optimal consensus control policies are designed from the HJB equations. In
order to implement the event-triggered adaptive dynamic programming algorithm,
the critic networks and action networks are developed to approximate the value func-
tions and consensus control policies respectively based on the measurable system
data. Under the event-triggered control framework, the weights of the critic networks
and action networks are only updated at the triggering instants which are decided by
the designed adaptive triggered conditions. The Lyapunov method is used to prove
that the local neighbor consensus errors and the weight estimation errors of the critic
networks and action networks are ultimately bounded.

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King, Oliver, Tidnish, W. O. NS
King, Samuel A., Pinkerton O
King, Wm., Bristol Q
Kingsmill, Wm., Guelph O
Kingston, C. H., Enniskillen Station, W. O. NB
Kinnear, James, Kinnear’s Mills Q
Kinny, Thomas, Oungah O
Kinsman, Benjamin, Kinsman’s Corners NS
Kinsman, Danson, Fonthill O
Kipp, Joseph B., Otnabog, W. O. NB
Kirby, Daniel, New Harbor, W. O. NS
Kirk, John, Kirk’s Ferry Q
Kirkpatrick, Andrew, Shubenacadie NS
Kirkpatrick, B., Quaco Road, W. O. NB
Kirkpatrick, Samuel, Aldboro’ O
Kirkpatrick, Thomas, Widder Station O
Kirkpatrick, F., Lunenburg O
Kirkwood, D., Rockside O
Kitchen, Harriet L., St. Williams O
Kitchen, L. W., Bloomsburg O
Kittson, Annie, Berthier (en haut) Q
Knack, A., Upper Branch, W. O. NS
Knaut, Lewis, Mahone Bay NS
Knechtel, Jacob, Carlsruhe O
Knight, Alfred, Petworth O
Knight, William, Smith’s Mills Q
Knight, J. E., New River, W. O. NB
Knight, Richard, Bowmanton O
Knowles, Leonard, Barrington Passage, W. O. NS
Knowlton, Calvin H., Lapum O
Knowlton, Luke H., South Stukely Q
Knox, G. W., Upper Caverhill, W. O. NB
Korry, John, Bolingbroke O
Krassler, John, Heidelburgh O
Kumpf, C., Waterloo O
Kyle, Joseph S., North Winchester O
Kyte, David, Richwood O

Laberge, Rev. F. X., Ste. Hippolyte de Kilkenny Q

Labrèque, Dr. Louis, Lambton Q
Labrosse, Simon, St. Eugène Q
Lacerte, Arthur, Yamachiche Q
Lachaine, dit Jolicœur, B. G., Isle aux Grues Q
Lacourcière, A. Jos., St. Stanislas Q
Lacourcière, P., Vincennes Q
Lacourcière, D., Batiscan Q
Ladell, Henry G., Mary Lake O
Ladd, C. J., Delaware O
Laflèche, T., Domaine de Gentilly Q
Lafleur, Odile, St. Adèle Q
Lafleur, Honoré, Yamaska Q
Lafleur, A., Aubrey Q
Lafond, Olivier, St. Paulin Q
Lafontaine, Emery, St. Hugues Q
Lafontaine, John, Capeltown Q
Lainesse, Prudent, St. Albert Q
Laing, G., Bayham O
Laing, Alexander, Dundee, W. O. NB
Laird, Richard, Shetland O
Lajeunesse, C. C., Lac Masson Q
Lake, W., Purdy O
Lake, Benjamin, Ranelagh O
Lalonde, E. H., St. Marthe Q
Lalonde, R. J., Ste. Justine de Newton Q
Lalonde, Camille, Mountjoy Q
Lalonde, Joseph, Embrun O
Lalumière, Eusèbe, St. Bazile le Grand Q
Lamarche, J. O., Mascouche Q
Lamb, William, Wendover O
Lamb, Thomas, St. Andrews, East Q
Lambert dit Champagne, Jean, Grand Coudées Q
Lambert, Henry, West Lake O
Lambert, Isaac, Dealtown O
Lambkin, Simon, Riceburg Q
Lamontagne, O. A., Dalibaire Q
Lamothe, Guillaume, Viger Mines Q
Lamorandière, Chas., Killarney O
Lamoureux, Antoine, Pointe aux Trembles Q
Lamoureux, Luc, St. Sébastien Q
Lamoureux, Olivier, Contrecœur Q
Lamphier, Peter, Grahamsville O
Lamy, Adolphe, St. Sévère Q
Lancaster, Christopher, Westwood O
Lance, Richard, Beatrice O
Landon, John, Waltham Q
Landon, Horace, Chichester Q
Landers, Jacob, Wellington, W. O. NS
Landry, Honoré, Palmerston, W. O. NB
Lane, Samuel, Denbigh O
Lane, Reuben, Mossley O
Lang, Robert, Chateauguay Basin Q
Langlois, Charles F. Y., Piopolis Q
Langin, Chas. E., Gaspereaux, W. O. NB
Langevin, F. T., St. Isidore, Laprairie Q
Langman, John, Bogart O
Langstaff, John, Langstaff (sub) O
Lantz, Harvey, Lantz, W. O. NS
Lapalme, Tréflé, St. Dominique Q
La Pinotière, W. H., Elora O
Lapointe, C. F., Ste. Flavie Q
Lapointe, Léandre, Mount Oscar Q
Lapointe, Jos. Robin, Mile End Q
Lappin, Sarah Jane, Miss, Strathallan O
Largie, Edward, Fletcher’s Station NS
Larivière, Thomas, Pont Rouge Q
Larocque, Telesphore, Henryville Q
Larouche, E., Clairvaux (sub) Q
Larracey, John, Irish Town, W. O. NB
Larue, Edmund, St. Antoine, Lotbinière Q
Larue, Miss H. C., Cap St. Ignace Q
Lasalle, F. X., St. Jean de Matha Q
Latour, dit Forget, Joseph, St. Thomas, East Q
Latour, Edmond, Côte St. Paul Q
Latshaw, Christopher, Glen Morris O
Laugill, J. S., Laugill’s, W. O. NS
Laurie, Francis, Oakfield, W. O. NS
Laurier, J. O., Lachenaie Q
Lanthier, A., Malmaison Q
Lavett, Agnes, Adare O
Lavoie, R., Mount Carmel Q
Lawler, D., Salmon River, W. O. NS
Lawless, Lawrence, London O
Lawlor, Wm., Burnley O
Lawrence, George, Honeywood O
Lawrence, Erastus, Lawrenceville Q
Lawrence, W., Eastern Harbor, W. O. NS
Lawrence, Chas., Lawrence Factory, W. O. NS
Lawder, R. H., Whitby O
Lawlor, J. B., Alfred O
Lawson, James, Farley’s Mills, W. O. NB
Lawson, George, Dalston O
Lawson, David, Cole’s Island, W. O. NB
Laymen, Robert S., Fintona O
Layton, D. L., Meaford O
Leake, James R., Morton O
Leemans, Wm., Little River, Coverdale, W. O. NB
Learn, P., senr., Mulgrave O
Learned, E., Learned Plain Q
Leary, Bridget, Ledge, W. O., NS
Leask, George, Leaskdale O
Leavitt, John, Bloomfield, W. O. NB
Le Baron, B., North Hatley Q
Le Baron, J. B., Hatley Q
Le Bau, Léandre, St. Alexis Q
Le Bel, J. B., St. Félicité Q
Lebel, Paschal, Armand Q
LeBlanc, J. B., Eel Brook NS
LeBlanc, J. E., St. Charles, River Richelieu Q
LeBlanc, M., Tusket Wedge, W. O. NS
LeBlanc, F., L’Epiphanie Q
LeBlanc, J. M. A., Port Royal, W. O. NS
LeBlanc, Olivier, St. Mary’s, W. O. NB
LeBlanc, Sylvain, Cocaigne River, W. O. NB
LeBlanc, Stephen, River Beaudette Q
Lebourveau, Moses, Eaton Q
Lecavallier, J. J., St. Laurent, Montreal Q
Leckie, John, Grey, O
Leclair, Charles, North Lancaster O
Lederman, Chas., Mannheim O
Leduc., Joseph, Vinoy Q
Lee, Thomas, Saugeen O
Lee, Horatio, Tabucintac, W. O. NB
Lee, Frederick F., Mallorytown O
Lee, Edward, Marshville O
Lee, Robert, Connor O
Lee, Thomas H., Mar O
Lee, Frenière, A. J., Pont de Maskinongé Q
Legendre, L. G. A., St. Frederick Q
Legère, Fidèle, Grandigue, W. O. NB
Le Gresly, Francis, Grand Aunce, W. O. NB
Le Hane, Thos. S., Ennismore O
Leighton, John S., Woodstock Road Station, W. O. NB
Leith, Smith, Kingsey Falls Q
Lellis, Jacob, Salmon Hole, W. O. NS
Lemaire, Ernest, St. Benoit Q
Lemay, Joseph, St. Norbert M
Lemay, V., Bord à Plouffe Q
Lemay, M., Lotbinière Q
Lemay, Hubert, St. Jude Q
Lemieux, Antoine, Chaudière Mills Q
Lemieux, Joseph, Mont Louis Q
Lemire dit Marsolait, G., Ste. Béatrix Q
Lemmer, Jacob, Fisherville O
Lemon, James, Morley O
Lennox, Isaac, Lennox O
Lent, J. M., Tusket NS
Leonard, M., Leonard’s Hill Q
Leonard, Adelard E., Ste. Rose Q
Leonard, Damase, St. Monique des deux Montagnes Q
Lépine, Marcel, St. Théodore Q
Lequin, Eli, O’Kanagan Mission BC
LeRoy, W. G., Bryson Q
LeRoy, Mrs. Nancy, Shedden O
Leslie, Henry, Spry Bay, W. O. NB
Leslie, Guy, Orangeville O
Leslie, William, Puslinch O
Leslie, W. D., Rupert Q
Leslie, George, junr., Leslie O
Leslie, Robert, Kemptville O
Leslie, W. T., Port Matoon, W. O. NS
Lespérance, P., Longueuil Q
Lessard, Eugéne, St. Ephrem de Tring Q
Lessard, Jean, St. Sylvester, East Q
Lesslie, Joseph, Toronto O
Letts, John, Dunraven Q
Levasseur, P. C., St. Jean des Chaillons Q
Lévêque, Ulric, Ste. Sophie de Lacorne Q
Lévêque, Théophile, St. Mathieu Q
Lévêque, E., St. Alexandre Q
Lévesque, E., Bagotville Q
Lévis, Jos. E., St. André Avelin Q
Lewis, Coleman, Addison Q
Lewis, George, Fort Erie O
Lewis, Gains, Lake Road, W. O. NS
Leybourne, Samuel, Kinglake O
Lightbody, Andrew, Garafraxa O
Lilley, Charles, Lillie’s Corners (sub) O
Lindabury, John, Windham Centre O
Lindard, Julius L., Van Winkle BC
Linden, H., Charlo’s Cove, W. O. NS
Lindsay, Alex., Lindsay, W. O. NB
Lindsay, Thomas, Williamson, W. O. NB
Lindsay, W. S., Woodslee O
Lindsay, Thos., Chigonaise River, W. O. NS
Lingley, John, Waverley O
Linton, John, Humber O
Lipset, John, Charlestown, W. O. NB
Lister, George, Manners Sutton, W. O. NB
Little, Peter, Moffatt O
Little, Thomas, Omagh O
Little, J., Head of Mill Stream, W. O. NB
Little, J., Aylwin Q
Littlewood, James, Littlewood, W. O. NS
Livingston, Donald, Upper Settlement of West River, W. O. NS
Livingston, John, Livingstone’s Cove, W. O. NS
Livingston, Oliver, Carlisle O
Livingston, John, Silver Islet O
Lloyd, Jared, White Rose O
Lloyd, Benjamin, King O
Lock, William, McDonald’s Corners O
Lock, Charles, Brinston’s Corners O
Lockhart, D., Leicester, W. O. NS
Lockhart, John, Donegal, W. O. NB
Lockhart, James, Clarke O
Lockhart, J. E., Canard, W. O. NS
Lockwood, Joseph, Brighton O
Lodge, W. B., Maccan Mountain, W. O. NS
Logan, Dougal, Loganville, W. O. NS
Lohr, Daniel, Phillipsburg, West O
Long, Wm., l’Amaroux O
Long, Wesley, Maxwell O
Longheed, Samuel, Molesworth O
Longley, George C., Maitland NS
Loranger, L. L. J., St. Sauveur Q
Lord, Joseph, Leclercville Q
Lord, Donald M., Newbridge, W. O. NS
Losie, Joseph, Collins Bay O
Lothrop, Allan, Westbury Q
Lothrop, F. H., North Stoke Q
Loucy, Thomas, Grand Pabos Q
Loughrey, Owen, Beaurivage Q
Loughrey, W., Petersville, West (sub) O
Loughrin, James, Speedside O
Loucks, H. L., Hull Q
Lounsbury, James, Lewis Mountain, W. O. NB
Love, Hugh, senr., Hill’s Green O
Love, Margt., Basswood Ridge, W. O. NB
Lovely, John, Florenceville East NB
Lowrie, James, Veighton O
Lucas, Jas., Cocaigne NB
Lumley, W. G., Glencoe O
Lundy, George B., Balmoral O
Lupien, L., St. Ursule Q
Lussier, Trefflé, Verchères Q
Lussier, Revd. L., Ste. Emilie de l’Energie Q
Luttis, David, Indian Harbor, W. O. NS
Lyman, H., Scotland O
Lyman, Horace, Granby Q
Lynch, John, Green River, W. O. NB
Lynch, Walter, Brome Q
Lynch, John, Allumette Island Q
Lynn, James, Bushfield O
Lynn, Joseph, Linton O
Lyon, R. A., Michael’s Bay O
Lyon, W. D., Milton West O
Lyttle, James, Newboyne O
Lyttle, Oliver, Barrington Q

McAfee, Andrew, Seeley’s Mills, W. O. NB

McAfee, Henry, Walkerville O
McAlister, Donald, New Mills NB
McAlister, D., Comber O
McAllister, James, Chute à Blondeau O
McAlpine, Nevin, Washademoak, W. O. NB
McArdle, Joseph, Ronaldsay O
McArthur, John, Amiens O
McArthur, Crosbie, Beauharnois Q
McArthur, Peter, Dalesville Q
McAskill, Hugh, Little Narrows, W. O. NS
McAulay, T. H., Centreton O
McAulay, John, Ventnor O
McAulay, Angus, False Bay Beach, W. O. NS
McAulay, M., South Side Basin of River Denis, W. O. NS
McBain, Thomas, New Town NS
McBean, D., Aberarder O
McBeath, J. T., Wexford O
McBrady, Daniel, Audley O
McBrane, Archibald, Missouri O
McBrayne, C., Botany O
McBride, John, Sunbury O
McBurney, R., Erie O
McCabe, Edward, Wheatland Q
McCaffery, John, Box Grove O
McCall, D. W., Walsh O
McCall, George D., Victoria O
McCallum, John, Avoca Q
McCann, William, Oak Hill, W. O. NB
McCarroll, North Bruce O
McCarron, Charles, Assametquagan Q
McCarthy, Joseph, Lower River Inhabitants, W. O. NS
McCarty, N. C., Thamesford O
McCaul, John, Durham NS
McCaw, H. H., Prince Albert O
McClellan, W., Elliott O
McClellan, A. W., Great Village NS
McClelland, John, Parry Sound O
McColl, Duncan, jun., Clachan O
McColl, John, St. Joseph du Lac O
McCollum, Peter T., Claude O
McConnell, W., Condon Settlement, W. O. NS
McConney, Farrell, Villette Q
McConnisky, John, Pubnico Beach, W. O. NS
McCool, James, Fort William Q
McCoppen, James, Port Robinson O
McCordie, James, Jura O
McCormack, Samuel, Saulmerville, W. O. NS
McCormack, William, Marsville O
McCormick, J. D., St. Alban Q
McCormick, Robert, Vivian O
McCormick, J. M., Macton O
McCracken, N., Valentia O
McCready, John E., Avondale, W. O. NB
McCrindle, James, Lurgan O
McCubbin, William, Belle Rivière NS
McCully, William, Truro NS
McCurdy, John, Kirkton O
McCutcheon, John, Clarendon Settlement NB
McCutcheon, J., Chilliwack BC
McCutcheon, Hugh, Leeds Village Q
McCutcheon, James, Sonora, W. O. NS
McCutcheon, James, Crosshill O
McDermid, D., Pine River O
McDermitt, Alexander, Portage River, W. O. NB
McDonald, Chas., Baddeck Bay, W. O. NS
McDonald, Mrs. C., French River, W. O. NS
McDonald, Murdoch, Groves Point, W. O. NS
McDonald, John, La Guerre Q
McDonald, J., Lake Megantic Q
McDonald, Alex., Leitch’s Creek, W. O. NS
McDonald, Mrs. Mary, Lime Rock, W. O. NS
McDonald, John, Hunter’s Mountain, W. O. NS
McDonald, Daniel, Little Glace Bay NS
McDonald, Joseph, Little Lorraine, W. O. NS
McDonald, Donald, Mabou Harbor, W. O. NS
McDonald, Robert, Malagash, W. O. NS
McDonald, L., Malagawatch, W. O. NS
McDonald, Angus, Caledonia, St. Mary’s, W. O. NS
McDonald, James, West Bay NS
McDonald, Peter, Whycocomah NS
Macdonald, D. D., Bailey’s Brook, W. O. NS
McDonald, Robert, Avondale, W. O. NS
McDonald, Duncan, Vernon O
McDonald, Archibald, Cape North, W. O. NS
McDonald, William, Blue Mountain, W. O. NS
McDonald, Alexander, Shea’s River, W. O. NS
McDonald, James H., Sherbrooke NS
McDonald, A., Sable O
McDonald, Donald, North Shore, W. O. NS
McDonald, John, Ohio, W. O. NS
McDonald, George, Northfield O
McDonald, John, Niel’s Harbor, W. O. NS
McDonald, Donald, Middle Settlement, River Inhabitants, W. O. NS
McDonald, James, Piedmont Valley, W. O. NS
McDonald, Colin, Black River, W. O. NS
McDonald, Michael, Upper Settlement of River Dennis, W. O. NS
McDonald, Angus, Upper Washabuck, W. O. NS
McDonald, J. R., Clontarf O
McDonald, John R., Cobden O
McDonald, Allan, Catalone, W. O. NS
McDonald, Robert, Cape George NS
McDonald, Donald, Cape George (North side), W. O. NS
McDonald, Chas., Lake Ainslie (East side) NS
McDonald, C., Sumerville, W. O. NS
McDonald, James, Brookville, W. O. NS
McDonald, Michael, Irish Cove, W. O. NS
McDonald, D., Elmsville, W. O. NS
McDonald, James, West Merigonishe NS
McDonnell, Allan, South West Mabou, W. O. NS
McDonnell, Duncan, Vancleek Hill O
McDonnell, Duncan, Long Point, W. O. NS
McDonnell, Hugh, Judique, W. O. NS
McDonnell, Mrs. Mary, St. Raphael, West O
McDonnell, George, Cornwall O
McDonnell, J. R., Brompton Falls Q
McDonnell, James, Middle Settlement of South River, W. O. NS
McDonnell, Robert, Clearview O
McDougald, Alexander, Greenfield O
McDougall, D., Lockside, W. O. NS
McDougall, Col., McDougall Settlement, W. O. NB
McDougal, Rod., Hay’s River, W. O. NB
McDougall, James, Marshy Hope, W. O. NS
McDougall, W., Brewster O
McDougall, Niel, Scotch Settlement, W. O. NB
McDougall, M., Christmas Island, W. O. NS
McDougall, Donald, Grand Mira North, W. O. NS
McEachan, D., Sight Point, W. O. NS
McEachern, John, South side of Wycocomah Bay, W. O. NS
McEachern, Archibald, Moulie’s River, W. O. NB
McEachern, Angus, Islay O
McEachern, Alex., Boom, W. O. NS
McElroy, Wm. Joseph, Alma O
McElroy, Henry, Concord O
McEvoy, John, Pomeroy Ridge, W. O. NB
McEwan, George, Salt Springs, W. O. NB
McEwan, M., Chockfish, W. O. NB
McEwen, E., Franktown O
McFadden, M., New Ireland Road, W. O. NB
McFarland, Henry, Campbell Settlement, W. O. NB
McFarland, W. J., Markdale O
McFarlane, Peter, Nashwaaksis, W. O. NB
McFarlane, Robert, Rosetta O
McFarlane, James, Conquerall Bank, W. O. NS
McFarlane, Peter, Kelso Q
McFarlane, Daniel, Haliburton O
McGarry, Owen, New Ross Road, W. O. NS
McGauvran, James, Treadwell O
McGee, Joseph, Back Bay, W. O. NB
McGibbon, Alex., Brownsburg Q
McGibbon, William, Point Wolf, W. O. NB
McGie, D. B., Esquimaux Point Q
McGill, David, Janetville O
McGill, J., Rusagornis Station, W. O. NB
McGill, James, Burton O
McGillis, Angus D., Harrison Corners O
McGillis, Albert, Williamston O
McGillavray, C., Glen Road, W. O. NS
McGillivray, Archibald, Lake Vale, W. O. NS
McGillivray, Hugh, Harbor Road, W. O. NS
McGillivray, Hugh, East Bay, W. O. NS
McGilleroy, John, Knoydart, W. O. NS
McGinnis, Donald, Schomberg O
McGowen, W., Little Lepreaux, W. O. NB
McGregor, Mrs. D., Garden of Eden, W. O. NS
McGregor, Daniel, Wyebridge O
McGregor, David, South Gower O
McGregor, John, Matawatchan O
McGregor, D., Tennyson O
McGregor, Alex., Big Island, W. O. NS
McHaffey, Wm., North Goggins, W. O. NB
McHarry, H., Orleans O
McHenny, J., Victoria, W. O. NS
McInnis, Charles, Aros O
McInnis, N., Tiverton O
McInnis, Hugh, Point of Cape, W. O. NS
McInnis, Angus, Lake Ainslie, W. O. NS
McIntosh, B., Westover O
McIntosh, P. N., Bookton O
McIntosh, Angus, Bay St. Lawrence, W. O. NS
McIntosh, D., Coldsprings O
McIntyre, Nichol, Bervie O
McIntyre, A., River Dennis, W. O. NS
McIntyre, W. H., Rockliffe (sub) O
McIntyre, D., Crinan O
McIntyre, Michael, Boisdale Chapel, W. O. NS
McIsaac, Donald, Mull River, W. O. NS
McJanet, Robert, Yarm Q
McKay, George W., Middle Southampton, W. O. NB
McKay, F. S., Papineauville O
McKay, George, Mount Thom, W. O. NS
McKay, A., Morewood O
McKay, James, St. James M
McKay, John, Millsville, W. O. NS
McKay, D., Big Harbor, W. O. NS
McKay, Robert, Guysborough Intervale, W. O. NS
McKay, Angus, Roger’s Hill, W. O. NS
McKay, Cornelius, Rosedene O
McKay, John, Six Mile Brook, W. O. NS
McKay, Anna M., Ancaster O
McKay, Mrs. J., West Branch, River John, W. O. NS
McKay, John, Upper Settlement of Barney’s River, W. O. NS
McKay, George, Ulster O
McKay, L., Speitches Cove, W. O. NS
McKay, Donald, Saintfield O
McKay, John, Argyle O
McKay, John, Cape Spear, W. O. NB
McKay, W. J., Earltown, W. O. NS
McKay, D. E., South Side West Margaree, W. O. NS
McKay, G. D., Middle Clyde River, W. O. NS
McKay, James, Middle Ohio, W. O. NS
McKee, William, Coventry O
McKechnie, R., Sharpton O
McKeen, Abraham, Keswick Ridge, W. O. NB
McKeen, J. G., Port Hastings NS
McKeen, George, Getson’s Point, W. O. NS
McKeggie, James H., Stayner O
McKellar, D., Kilmartin O
McKendrick, M., Kincardine O
McKenney, Cyrus B., Pemberton Ridge, W. O. NB
McKenney, Thomas, Thornbury O
McKenzie, George, Laterrière Q
McKenzie, William, Gowland Mountain, W. O. NB
McKenzie, N. D., Holstein O
McKenzie, Alex., Red Islands, W. O. NS
McKenzie, M., St. Ann’s, W. O. NS
McKenzie, A. M., Terrebone Q
McKenzie, Angus, Appin O
McKenzie, James, Union O
McKenzie, Alex., Mapleton M
McKenzie, Thos., Millfield Q
McKenzie, David, Neripis Station, W. O. NB
McKenzie, John, North River Bridge, W. O. NS
McKenzie, Mrs. Jessie, Green Hill, W. O. NS
McKenzie, K., Kemp Head, W. O. NS
McKenzie, Wm. L., Algonquin O
McKenzie, John, Sarawak O
McKenzie, J. R., Skye O
McKenzie, R., South side of Boulardorie, W. O. NS
McKenzie, Archibald, Flatlands NB
McKenzie, H., Stellerton NS
McKenzie, Arthur M., Terrebonne Q
McKenzie, William, St. George’s Channel, W. O. NS
McKenzie, F., Birkhall O
McKenzie, Archibald, Durham O
McKenzie, Kenneth, Burnside M
McKeown, James W., Sutherland’s Corners O
McKeune, J., Aughrim O
McKie, Thomas, West Arran O
McKiel, Albert, Greenwich Hill, W. O. NB
McKillican, B., jun., Thanet O
McKillican, Wm., Moose Creek O
McKillop, A., Cotswold O
McKillop, Duncan, West Lorne O
McKim, Robert, South Middleton O
McKinlay, Robert, Clandeboye O
McKinly, Samuel, Onslow, W. O. NS
McKinney, Richard, Newburgh, W. O. NB
McKinnon, John, Glenedale, W. O. NB
McKinnon, John, Lake Ainslie, South Side, W. O. NS
McKinnon, John, Cadmus O
McKinnon, John, Inverness Q
McKinnon, Duncan, North Shore, W. O. NS
McKinnon, Donald, Bute Q
McKinnon, J. P., East Bay, North Side, W. O. NS
McKnight, F. H., Burnt Church, W. O. NB
McLachlan, Donald, East Scotch Settlement, W. O. NB
McLachlin, H. F. Palmer Rapids O
McLaren, Wm., Port au Persil Q
McLaren, J. H., Lower Argyle, W. O. NS
McLaren, Alex., Osceola O
McLaren, John, Vilanova O
McLaren, James, Wakefield Q
McLaren, Donald, Cape Rich O
McLaren, Donald, Chezzetcook, W. O. NS
McLatchey, E., Lower Horton NS
McLaughlan, Duncan, Calton O
McLaughlin, A. A., Norland O
McLaughlin, C., Apto O
McLauren, P., Riceville O
McLean, Donald, Malignant Cove, W. O. NS
McLean, Donald, Big Bank, W. O. NS
McLean, Malcolm, McKay’s Point, W. O. NS
McLean, W. H., Eardley Q
McLean, Allan, Grand Anse, W. O. NS
McLean, Alexander Henry, Kimberley O
McLean, Richard, Mount Uniacke NS
McLean, Archibald, Point à Pic (sub) Q
McLean, Hector, Dunvegan O
McLean, Hector, Knapdale O
McLean, James, Escuminac, W. O. NB
McLean, A., Cheviot O
McLean, Malcolm, Walkerton O
McLean, Mrs. C. A., Toledo O
McLean, Donald, Scarboro’ O
McLearn, Joseph, Five Mile River, W. O. NS
McLeay, Murdo, Watford O
McLees, Robert, Soda Creek BC
McLeish, Robert, Branchton O
McLellan, Alex., Broad Cove Chapel, W. O. NS
McLellan, Samuel, Noel Shore, W. O. NS
McLellan, A. W., Great Village NS
McLellan, Miss Margaret, Port Rowan O
McLennan, John, Upper Settlement of Middle River, W. O. NS
McLennan, Donald, Indian Brook, W. O. NS
McLennan, A. S., Fournier O
McLennan, John, Upper Margaree, W. O. NS
McLeod, Charles L., Middle River, W. O. NS
McLeod, Robert G., Mount Charles O
McLeod, Robert, New Larig, W. O. NS
McLeod, Malcolm, Bucklaw, W. O. NS
McLeod, William, Kirkhill O
McLeod, Donald, Broad Cove (Marsh), W. O. NS
McLeod, George, Middle River, W. O. NS
McLeod, John, Carsonville, W. O. NB
McLeod, Hugh, Cape John, W. O. NS
McLeod, George, Portsmouth O
McLeod, William, Round Hill, W. O. NB
McLeod, George, McLeod’s Mills, W. O. NB
McLeod, Isaac, Broad Cove (Intervale), W. O. NS
McLeod, D. W., Enniskillen O
McLeod, Malcolm, Big Brook, W. O. NS
McLeod, C. F., Belleisle Creek, W. O. NB
McLeod, Malcolm, Big Intervale (Margaree), W. O. NS
McLeod, Donald, Newbridge, W. O. NS
McMannis, John, South Bolton Q
McManus, Mark, Chesley O
McMaster, Angus, Low Point, W. O. NS
McMasters, D. J., Queensville, W. O. NS
McMillan, D., Glen, W. O. NS
McMillan, John, Breadalbane, W. O. NB
McMillan, John, Harriettsville O
McMillan, Patrick, Grand Falls NB
McMillan, Duncan G., South Finch O
McMillan, Donald, Upper Settlement of Baddeck River, W. O. NS
McMillan, Allan, jun., Isaac’s Harbor NS
McMillan, A., King Creek O
McMillan, William, Kirkwall O
McMillan, John, Avonbank O
McMillen, John, Hornby O
McMillen, Miles, Boiestown, W. O. NB
McMonagle, H., Sussex Vale NB
McMurchy, M., Tarbert O
McMurray, L., Gladstone O
McNab, J. McM., Claremont O
McNaughton, John, St. Patrick’s Channel, W. O. NS
McNaughton, R., Black River, W. O. NB
McNeil, Hector, Marion Bridge, W. O. NS
McNeil, J. S., Grand Narrows, W. O. NS
McNeil, John, Giant’s Lake, W. O. NS
McNeil, Malcolm, Hillsborough, C. B., W. O. NS
McNeil, Hugh, Head of South River Lake, W. O. NS
McNeil, Charles, North Range Corner, W. O. NS
McNichol, Allen, Allensville O
McNiel, John, Wallace Ridge, W. O. NS
McNiel, Michael, L’Ardoise, W. O. NS
McNiel, Peter, Sillery Cove Q
McNiel, Malcolm, North Side of Basin, River Dennis, W. O. NS
McNiel, Moses, Rosedale O
McNeill, Stephen, Beaver Cove, W. O. NS
McPhail, Alex., Pictou NS
McPhail, Hugh, Cartwright O
McPhee, Donald, Whitevale O
McPherson, James, Rama O
McPherson, Alexander, River Charlo, W. O. NB
McPherson, Allan, Largie O
McPherson, Charles, Oronocto NB
McPherson, James, Rivière Raisin O
McPherson, G. S., Ossian O
McPherson, John, New Gairloch, W. O. NS
McPherson, John, Cross Roads, Ohio, W. O. NS
McPherson, Robert, Speyside O
McQuaid, J. C., Hastings, W. O. NB
McQuain, Alexander, Kewstoke NS
McQuarrie, A., Cape Mabou, W. O. NS
McQueen, Mrs. M. A., North Pelham O
McQueen, James, Fergus O
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