Controllability of multi‐agent systems under directed topology

Summary In this paper, the controllability of multi‐agent systems is studied under leader‐follower framework, where the interconnection between agents is directed. The concept of leader‐follower connectedness is first introduced for directed graph to check controllability, and some graph‐theoretic c...

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Published inInternational journal of robust and nonlinear control Vol. 27; no. 18; pp. 4333 - 4347
Main Authors Guan, Yongqiang, Ji, Zhijian, Zhang, Lin, Wang, Long
Format Journal Article
LanguageEnglish
Published Bognor Regis Wiley Subscription Services, Inc 01.12.2017
Subjects
almost equitable partition
Controllability
distance partition
Graph theory
leader‐follower connectedness
Multiagent systems
multi‐agent systems
Partitions
Subspaces
Topology
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ISSN1049-8923
1099-1239
DOI10.1002/rnc.3798

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Summary:Summary In this paper, the controllability of multi‐agent systems is studied under leader‐follower framework, where the interconnection between agents is directed. The concept of leader‐follower connectedness is first introduced for directed graph to check controllability, and some graph‐theoretic conditions are derived for constructively designed topologies. Then, distance partition and almost equitable partition are employed to quantitatively study the controllable subspaces. Moreover, the relationship between the state invariance of multi‐agent systems and the existence of almost equitable partition is discussed. Copyright © 2017 John Wiley & Sons, Ltd.
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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.3798