ON FORMABILITY OF LINEAR CONTINUOUS-TIME MULTI-AGENT SYSTEMS  

作　　者：Cuiqin MA Jifeng ZHANG 

机构地区：[1]School of Mathematical Sciences,Qufu Normal University [2]Key Laboratory of Systems and Control,Institute of Systems Science,Academy of Mathematics and Systems Science,Chinese Academy of Sciences

出　　处：《Journal of Systems Science & Complexity》2012年第1期13-29,共17页系统科学与复杂性学报（英文版）

基　　金：supported by the National Nature Science Foundation of China under Grants Nos.60934006 and 61104136;the Shandong Provincial Natural Science Foundation under Grant No.ZR2010FQ002;the School Foundation of Qufu Normal University under Grant No.XJ200913;the Scientific Research Foundation of Qufu Normal University

摘　　要：This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of essential importance in designing formation protocols. Formability of an MAS depends on several key factors： agents＇ dynamic structures, connectivity topology, properties of the desired formation and the admissible control set. Agents of the MASs considered here are described by a general continuous linear time-invariant （LTI） model. By using the matrix analysis and algebraic graph theory, some necessary and sufficient conditions on formability of LTI-MASs are obtained. These conditions characterize in some sense the relationship of formability, connectivity topology, formation properties and agent dynamics with respect to some typical and widely used admissible protocol sets.

关 键 词：FORMABILITY formability condition formation protocol linear time-invariant system multi-agent systems. 

分 类 号：O231[理学—运筹学与控制论]