Journal
INTERNATIONAL JOURNAL OF CONTROL
Volume 89, Issue 5, Pages 1009-1024Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2015.1110756
Keywords
leader-follower framework; Controllability; heterogeneous multi-agent systems; local interaction
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Funding
- National Science Foundation of China [61203374, 61375120, 61374062, 61374199, 61533001]
- Beijing Natural Science Foundation [4142031]
- Science Foundation of Shandong Province for Distinguished Young Scholars [JQ201419]
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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.
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