Controllability of heterogeneous multi-agent systems under directed and weighted topology. Issue 5 (3rd May 2016)

• Record Type: Journal Article
• Authors: Guan, Yongqiang; Ji, Zhijian; Zhang, Lin; Wang, Long
• Is Part Of: International journal of control. Volume 89:Issue 5(2016)
• Page Start: 1009
• Page End: 1024
• Publication Date: 2016-05-03
• Subjects: Controllability -- local interaction -- leader–follower framework -- heterogeneous multi-agent systems; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2015.1110756
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: This paper considers the controllability problem for both continuous- and discrete-time linear heterogeneous multi-agent systems with directed and weighted communication topology. First, two kinds of neighbour-based control protocols based on the distributed protocol of first-order and second-order multi-agent systems are proposed, under which it is shown that a heterogeneous multi-agent system is controllable if the underlying communication topology is controllable. Then, under special leader selection, the result shows that the controllability of a heterogeneous multi-agent system is solely decided by its communication topology graph. Furthermore, some necessary and/or sufficient conditions are derived for controllability of communication topology from algebraic and graphical perspectives. Finally, simulation examples are presented to demonstrate the effectiveness of the theoretical results.