Multi-agent systems represent a group of agents that work cooperatively to solve common
tasks in a dynamic environment. The control of multi-agent systems relates to synthesizing
control schemes for systems that are inherently distributed and composed of multiple
interacting entities. Because of the wide applications of multi-agent theories in large
and complex control systems, it is necessary to develop a framework to simplify the process
of developing control schemes for multi-agent systems. A lot of architectures have been
proposed for the control of multi-agent systems. While efficient in many aspects, these
approaches are always problem dependent. In our research, a framework is proposed for the
distributed control and coordination of multi-agent systems. In the proposed framework, the
control of multi-agent systems is regarded as decentralized control and coordination of
agents. Both the discrete dynamics and continuous dynamics are considered in this framework.
The Lyapunov method is adopted to analyze the stability of multi-agent systems. The framework
is applied to a heterogeneous multi-agent system that consists of an overhead crane, a mobile
robot and a robot manipulator. Results show that the framework can model complex multi-agent systems.