Structural Controllability of a Consensus Network With Multiple Leaders

被引：20

作者：

Mehrabadi, Milad Kazemi ^{[1
]}

Zamani, Mohsen ^{[2
]}

Chen, Zhiyong ^{[2
]}

机构：

[1] Newcastle Univ, Sch Comp, Newcastle Upon Tyne NE4 5TG, Tyne & Wear, England

[2] Univ Newcastle, Sch Elect Engn & Comp, Callaghan, NSW 2308, Australia

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2019年 / 64卷 / 12期

关键词：

Controllability; Linear systems; Topology; Laplace equations; Network topology; Multiagent systems; structural controllability; MULTIAGENT; SYSTEMS; OBSERVABILITY;

D O I：

10.1109/TAC.2019.2909809

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed communication topology. It is proved that the graph-theoretic sufficient and necessary condition for the set of followers to be structurally controllable under the leaders' commands is leader-follower connectivity of the associated graph topology. This shrinks to graph connectivity for the case of solo leader. In the approach, we explicitly put into account the dependence among the entries of the system matrices for a consensus network using the linear parameterization technique.

引用

页码：5101 / 5107

页数：7

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