Controllability analysis of multi-agent systems with switching topology over finite fields  

作　　者：Zehuan LU Lin ZHANG Long WANG 

机构地区：[1]School of Automation Science and Electrical Engineering, Beihang University [2]Center for Systems and Control, College of Engineering, Peking University

出　　处：《Science China(Information Sciences)》2019年第1期77-91,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, 61374199)

摘　　要：In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second,we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph.In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second,we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph.

关 键 词：MULTI-AGENT systems LEADER-FOLLOWER structure CONTROLLABILITY finite FIELDS switching TOPOLOGY 

分 类 号：N[自然科学总论]