ABSTRACT
In this chapter, basic definitions, concepts, and results on graph theory, matrix theory, inequality theory, linear and nonlinear system theory, and finite-time stability theory are introduced. Besides, from the formation control level, the dynamics models of unmanned swarm systems including unmanned aerial vehicles and unmanned ground vehicles are given respectively. These preliminaries will be used as foundations and tools for formation tracking controller design and stability analysis in the following chapters of this book.
