Controllability of multi-agent systems based on agreement protocols  

作　　者：WANG Long JIANG FangCui XIE GuangMing JI ZhiJian 

机构地区：[1]Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing 100871, China [2]College of Automation Engineering, Qingdao University, Qingdao 266071, China

出　　处：《Science in China(Series F)》2009年第11期2074-2088,共15页中国科学（F辑英文版）

基　　金：Supported by the National Natural Science Foundation of China (Grant Nos. 60674050, 60736022, 10972002, 60774089);the 11-5 Project(Grant No. A2120061303)

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.

关 键 词：multi-agent systems CONTROLLABILITY structural controllability agreement protocols high-order dynamic agents GRAPHS 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] X832[自动化与计算机技术—控制科学与工程]