Interconnection topologies for multi-agent coordination under leader-follower framework

被引：182

作者：

Ji, Zhijian ^{[1
]}

Wang, Zidong ^{[2
]}

Lin, Hai ^{[3
]}

Wang, Zhen ^{[1
]}

机构：

[1] Qingdao Univ, Coll Automat Engn, Qingdao 266071, Shandong, 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：

AUTOMATICA | 2009年 / 45卷 / 12期

基金：

中国国家自然科学基金;

关键词：

Multi-agent systems; Controllability; Local interactions; Leader-follower structure; CONSENSUS PROBLEMS; NETWORKS; AGENTS; CONTROLLABILITY; SYSTEMS;

D O I：

10.1016/j.automatica.2009.09.002

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 paper, the formation control problem of the network of multiple agents is studied in terms of controllability, where the network is of the leader-follower structure with some agents taking leaders role and others being followers interconnected via the neighbor-based rule. It is shown that the controllability of a multi-agent system can be uniquely determined by the topology structure of interconnection graph. for which the investigation comes down to that for a multi-agent system with the interconnection graph being connected. Based on these observations, two kinds of uncontrollable interconnection topologies are characterized, and a necessary and sufficient eigenvector-based condition is presented. Our studies also touch upon the selection of leaders. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：2857 / 2863

页数：7

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