Controllability of multi-agent systems with time-delay in state and switching topology

被引：98
|
作者：
Ji, Zhijian [1 ]
Wang, Zidong [2 ]
Lin, Hai [3 ]
Wang, Zhen [1 ]
机构：
[1] Qingdao Univ, Sch Automat Engn, Qingdao 266071, Peoples R China
[2] Brunel Univ, Dept Informat Syst & Comp, Uxbridge UB8 3PH, Middx, England
[3] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2010年 / 83卷 / 02期
基金：
中国国家自然科学基金;
关键词：
controllability; multi-agent system; single-integrator; double-integrator; switching topology; state delay; LINEAR-SYSTEMS; AVERAGE CONSENSUS; DYNAMIC AGENTS; NETWORKS; COORDINATION;
D O I：
10.1080/00207170903171330
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, the controllability issue is addressed for an interconnected system of multiple agents. The network associated with the system is of the leader-follower structure with some agents taking leader role and others being followers interconnected via the neighbour-based rule. Sufficient conditions are derived for the controllability of multi-agent systems with time-delay in state, as well as a graph-based uncontrollability topology structure is revealed. Both single and double integrator dynamics are considered. For switching topology, two algebraic necessary and sufficient conditions are derived for the controllability of multi-agent systems. Several examples are also presented to illustrate how to control the system to shape into the desired configurations.
引用
收藏
页码：371 / 386
页数：16
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