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

被引：102

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

页码：371 / 386

页数：16

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