| Abstract |
Coalitional control is a fairly new branch of distributed control where the agents merge dynamically into coalitions according to the enabled/disabled communication links at each time instant. Therefore, with these schemes there is a reduction of the communication burden without compromising the system performance. In this tutorial, the main features of these schemes will be introduced in the framework of cooperative game theory, being the game related to the cost function that is optimized by the control approach, and with the players corresponding to either the communication links or the agents involved. In this context, several cooperative game theory tools will be considered in order to: rank the players, impose constraints on them, provide more efficient ways of calculation, perform system partitioning, etc., hence analyzing the main features related to each tool. |
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