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

被引：0
作者：
Yongqiang Guan
Long Wang
机构：
[1] Xidian University,Center for Complex Systems, School of Mechano
[2] Peking University,Electronic Engineering
来源：
Science China Information Sciences | 2017年 / 60卷
关键词：
multi-agent systems; structural controllability; absolute protocol; leader-follower connectedness; switching topology;
D O I：
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学科分类号：
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 generallinear 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.
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