Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 86, Issue 2, Pages 222-231Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2012.723136
Keywords
structural controllability; multi-agent system; cooperative control; graphic interpretation
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This article considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems under switching topologies is investigated. The structural controllability of multi-agent systems is a generalisation of the traditional controllability concept for dynamical systems, and purely based on the communication topologies among agents. The main contributions of this article are graph-theoretic characterisations of the structural controllability for multi-agent systems. It turns out that the multi-agent system with switching topology is structurally controllable if and only if the union graph ? of the underlying communication topologies is connected (single leader) or leader-follower connected (multi-leader). Finally, this article concludes with several illustrative examples and discussions of the results and future work.
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