Structural controllability of multi-agent systems with absolute protocol under fixed and switching topologies

被引：42

作者：

Guan, Yongqiang ^{[1
]}

Wang, Long ^{[2
]}

机构：

[1] Xidian Univ, Sch Mechanoelect Engn, Ctr Complex Syst, Xian 710071, Shaanxi, Peoples R China

[2] Peking Univ, Coll Engn, Ctr Syst & Control, Beijing 100871, Peoples R China

来源：

SCIENCE CHINA-INFORMATION SCIENCES | 2017年 / 60卷 / 09期

基金：

中国国家自然科学基金;

关键词：

multi-agent systems; structural controllability; absolute protocol; leader-follower connectedness; switching topology; CONSENSUS PROBLEMS; TIME-DELAYS; NETWORKS; STABILIZABILITY; LEADERS; OBSERVABILITY; PERSPECTIVE; SELECTION; GRAPHS; AGENTS;

D O I：

10.1007/s11432-016-0498-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper investigates the structural controllability of leader-follower multi-agent systems under fixed and switching topologies. Three models of agents: double-integrator, high-order integrator and general-linear dynamics are analyzed. Necessary and sufficient graphical conditions are provided for structural controllability based on communication topology of the system. In particular, a linear neighbor-based control protocol is designed for generic linear agents under which structural controllability is proved to be uniquely determined by communication topology structure. The role that leaders play in the structural controllability of multi-agent system is characterized, and a method is developed to realize structural controllability under single leader. The results clearly indicate the role of leaders and the effect of communication topology on structural controllability.

引用

页数：15

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