Controllability of multi‐agent systems under directed topology. (9th March 2017)

• Record Type: Journal Article
• Authors: Guan, Yongqiang; Ji, Zhijian; Zhang, Lin; Wang, Long
• Is Part Of: International journal of robust and nonlinear control. Volume 27:Number 18(2017)
• Page Start: 4333
• Page End: 4347
• Publication Date: 2017-03-09
• Subjects: multi‐agent systems -- controllability -- leader‐follower connectedness -- distance partition -- almost equitable partition; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.3798
• Languages: English
• ISSNs: 1049-8923

Abstract

Summary: In this paper, the controllability of multi‐agent systems is studied under leader‐follower framework, where the interconnection between agents is directed. The concept of leader‐follower connectedness is first introduced for directed graph to check controllability, and some graph‐theoretic conditions are derived for constructively designed topologies. Then, distance partition and almost equitable partition are employed to quantitatively study the controllable subspaces. Moreover, the relationship between the state invariance of multi‐agent systems and the existence of almost equitable partition is discussed. Copyright © 2017 John Wiley & Sons, Ltd.