Controllability of Formations Over Directed Time-Varying Graphs

被引：25

作者：

Chen, Xudong ^{[1
]}

Belabbas, Mohamed-Ali ^{[1
]}

Basar, Tamer ^{[1
]}

机构：

[1] Univ Illinois, Coordinated Sci Lab, Champaign, IL 61820 USA

来源：

IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS | 2017年 / 4卷 / 03期

基金：

美国国家科学基金会;

关键词：

Bilinear systems; formations; geometric control; time-varying graphs; MULTIAGENT SYSTEMS; SWITCHING TOPOLOGY; NETWORKS;

D O I：

10.1109/TCNS.2015.2504034

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We relate the strongly connected components of this graph to the reachable set of the formation control system. Moreover, we show that the formation control model is approximately path-controllable over a path-connected, open dense subset as long as the graph is weakly connected and satisfies some mild assumption on the numbers of vertices of the strongly connected components.

引用

页码：407 / 416

页数：10

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