期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 27, 期 18, 页码 4333-4347出版社
WILEY
DOI: 10.1002/rnc.3798
关键词
multi-agent systems; controllability; leader-follower connectedness; distance partition; almost equitable partition
资金
- National Science Foundation of China [61375120, 61374062, 61533001, 61603288]
- Science Foundation of Shandong Province for Distinguished Young Scholars [JQ201419]
- Fundamental Research Funds for the Central Universities [JBG160413, XJS16059]
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 (c) 2017 John Wiley & Sons, Ltd.
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