Controllability of multi-agent systems based on agreement protocols

被引：0
作者：
Long Wang
FangCui Jiang
GuangMing Xie
ZhiJian Ji
机构：
[1] Peking University,Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception (Ministry of Education)
[2] Qingdao University,College of Automation Engineering
来源：
Science in China Series F: Information Sciences | 2009年 / 52卷
关键词：
multi-agent systems; controllability; structural controllability; agreement protocols; high-order dynamic agents; graphs;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper investigates the controllability of multi-agent systems based on agreement protocols. First, for a group of single-integrator agents, the controllability is studied in a unified framework for both networks with leader-following structure and networks with undirected graph. Some new necessary/sufficient conditions for the controllability of networks of single-integrator agents are established. Second, we prove that, under the same topology and same prescribed leaders, a network of high-order dynamic agents is completely controllable if and only if so is a network of single-integrator agents. Third, how the selection of leaders and the coupling weights of graphs affect the controllability is analyzed. Finally, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.
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页码：2074 / 2088
页数：14
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