基于耳划分的有向环图的能控性分析  

Controllability Analysis of Directed Loop Graph Based on Ear Segmentation

作　　者：陆子彤 纪志坚[1] 渠继军 LU Zitong;JI Zhijian;QU Jijun

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：《今日自动化》2025年第2期171-173,共3页Automation Today

摘　　要：为探究leader-follower框架下具有特殊拓扑结构的多智能体系统能控性的问题,采用拉普拉斯矩阵和图论的方法进行了分析。文章将耳划分用在多智能体系统的能控性分析上,将复杂的有向拓扑图简化成一般的有向路图和有向环图,从而为确定系统中领导者的位置提供了新思路。此外,证明了在有向环图中增加特定的有向边不会改变系统能控性,并分析了有向环图中系统能控性特点。To investigate the controllability of multi-agent systems with special topological structures under the leader follower framework,Laplace matrix and graph theory methods were used for analysis.The article applies ear partitioning to the controllability analysis of multi-agent systems,simplifying complex directed topological graphs into general directed path graphs and directed ring graphs,providing new ideas for determining the position of leaders in the system.In addition,it has been proven that adding specific directed edges to a directed ring graph does not change the controllability of the system,and the controllability characteristics of the system in a directed ring graph have been analyzed.

关 键 词：多智能体系统 leader-follower结构 能控性 有向环图 耳划分 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]