Structural controllability of high order dynamic multi-agent systems

Recently, the controllability problem of multi-agent systems is significantly explored; however, the majority of studies have been focused on the classical controllability approaches. This paper investigates the necessary and sufficient conditions of structural controllability for high order dynamic...

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Bibliographic Details
Published in2010 IEEE Conference on Robotics, Automation and Mechatronics pp. 327 - 332
Main Authors Partovi, Alireza, Lin, Hai, Ji, Zhijian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Communication system control
Control systems
Controllability
Defense industry
Graph theory
graphs
high-order dynamic agents
multi-agent systems
Multiagent systems
Network topology
Numerical simulation
structural controllability
Sufficient conditions
Vehicle dynamics
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Summary:Recently, the controllability problem of multi-agent systems is significantly explored; however, the majority of studies have been focused on the classical controllability approaches. This paper investigates the necessary and sufficient conditions of structural controllability for high order dynamic multi-agent systems. We consider a group of agents in a leader-follower framework under a fixed topology structure. It is assumed that, the agents interconnection is a weighted graph with freely chosen weights and each agent has a high order controllable canonical dynamic. Under this setup we show that the structural controllability of such a network is directly determined by agent interconnection. It is shown that a set of weights can be found which make the entire network controllable if and only if the graph is connected. Finally, we present a numerical example and simulation to illustrate the results.
ISBN:1424465036
9781424465033
ISSN:2158-2181
DOI:10.1109/RAMECH.2010.5513168