有向路图的系统能控性分析  

Controllability Analysis of Directed Path System

作　　者：陆子彤 纪志坚[1] 渠继军 LU Zitong;JI Zhijian;QU Jijun(School of Automation,Academy of Systems Science,Qingdao University,Qingdao,Shandong 266071,China)

机构地区：[1]青岛大学系统科学研究院自动化学院,山东青岛266071

出　　处：《自动化应用》2025年第5期63-65,共3页Automation Application

摘　　要：为研究leader-follower结构下有向路图的多智能体系统能控性问题,采用拉普拉斯矩阵和图论的方法进行了深入分析。给出了使有向路图能控的充要条件,分别在特征值是否为整数的条件下讨论,依据有向路图中节点入度的规律,给出了特征值左特征向量产生零元素的一般性情况,且得到了在选择特定节点作为领导者时系统不能控的结论。To investigate the controllability of multi-agent systems with directed path under the leader-follower structure,indepth analysis was conducted using Laplace matrix and graph theory methods.The necessary and sufficient conditions for making a directed path controllable are given,and discussed under the condition of whether the eigenvalues are integers.Based on the rule of node in degree in a directed path,the general situation where the left eigenvector of eigenvalues produces zero elements is given,and the conclusion that the system cannot control when selecting a specific node as the leader is obtained.

关 键 词：多智能体系统 leader-follower结构 能控性 有向路图 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]