Controllability of discrete-time multi-agent systems with directed topology and input delay. Issue 1 (2nd January 2016)

• Record Type: Journal Article
• Authors: Lu, Zehuan; Zhang, Lin; Ji, Zhijian; Wang, Long
• Is Part Of: International journal of control. Volume 89:Issue 1(2016)
• Page Start: 179
• Page End: 192
• Publication Date: 2016-01-02
• Subjects: discrete-time multi-agent systems -- directed topology -- controllability -- protocol -- input delay; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2015.1063165
• Languages: English
• ISSNs: 0020-7179

Abstract

Abstract : This paper investigates the controllability of first-order and second-order discrete-time multi-agent systems with directed topology and input delay. The problem is studied in the leader–follower framework where a number of agents are selected to be leaders and serve as control inputs to all other agents. Sufficient and necessary conditions are derived for the controllability of first-order discrete-time multi-agent systems. With sampling period and feedback gain satisfying certain conditions, it is proved under three different protocols that the controllability of second-order discrete-time multi-agent systems is equivalent to that of a pair of submatrices of Laplacian matrix. In addition, the controllability of both first-order and second-order discrete-time multi-agent systems with input delay is shown, through some transformations, to be equivalent to that of the transformed non-delayed systems. Finally, some simulation examples are given to illustrate the theoretical results.