Control of complex systems can be achieved via hierarchical multilayered agentbased structures benefiting from their inherent properties such as modularity, scalability, adaptability, flexibility and robustness. The agent-based structures consist of a number of simpler subsystems (or agents), each of which addresses in a coordinated manner a specific sub-objective or sub-task so as to attain the overall design objectives. The complexity of the behavior of such systems arises as a result of interactions between multiple agents and the environment in which they operate. More specifically, multi-agent control systems are fundamental parts of a wide range of safety-critical engineering systems, and are commonly found in aerospace, traffic control, chemical processes, power generation and distribution, flexible manufacturing, robotic system design and self-assembly structures. A multi-agent system can be considered as a loosely coupled network of problem-solver entities that work together to find answers to problems that are beyond the individual capabilities or knowledge of each entity, where local control law has to satisfy decentralized information structure constraints (see, e.g., ), and where no global system control (or supervision) is desired.
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