Structural controllability of multi-agent systems with absolute protocol under fixed and switching topologies  

作　　者：Yongqiang GUAN Long WANG 

机构地区：[1]Center for Complex Systems, School of Mechano-Electronic Engineering,Xidian University [2]Center for Systems and Control, College of Engineering, Peking University

出　　处：《Science China(Information Sciences)》2017年第9期222-236,共15页中国科学（信息科学）（英文版）

基　　金：supported by National Natural Science Foundation of China (Grant Nos. 61375120, 61533001, 61603288)

摘　　要：The paper investigates the structural controllability of leader-follower multi-agent systems under fixed and switching topologies. Three models of agents： double-integrator, high-order integrator and general- linear dynamics are analyzed. Necessary and sufficient graphical conditions are provided for structural control- lability based on communication topology of the system. In particular, a linear neighbor-based control protocol is designed for generic linear agents under which structural controllability is proved to be uniquely determined by communication topology structure. The role that leaders play in the structural controllability of multi-agent system is characterized, and a method is developed to realize structural controllability under single leader. The results clearly indicate the role of leaders and the effect of communication topology on structural controllability.The paper investigates the structural controllability of leader-follower multi-agent systems under fixed and switching topologies. Three models of agents： double-integrator, high-order integrator and general- linear dynamics are analyzed. Necessary and sufficient graphical conditions are provided for structural control- lability based on communication topology of the system. In particular, a linear neighbor-based control protocol is designed for generic linear agents under which structural controllability is proved to be uniquely determined by communication topology structure. The role that leaders play in the structural controllability of multi-agent system is characterized, and a method is developed to realize structural controllability under single leader. The results clearly indicate the role of leaders and the effect of communication topology on structural controllability.

关 键 词：multi-agent systems structural controllability absolute protocol leader-follower connectedness switching topology 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]