期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 60, 期 3, 页码 781-786出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2014.2335971
关键词
Controllability; leader-follower structure; local interactions; multi-agent systems
资金
- National Natural Science Foundation of China [61374062, 61075114, 61174131]
- National Science Foundation [NSF-CNS-1239222, NSF-EECS-1253488]
- Direct For Computer & Info Scie & Enginr
- Division Of Computer and Network Systems [1446288, 1239222] Funding Source: National Science Foundation
- Directorate For Engineering
- Div Of Electrical, Commun & Cyber Sys [1253488] Funding Source: National Science Foundation
This note investigates the controllability issues of multi-agent systems, where each node contains generic linear dynamics. First, a neighbor-based control protocol is proposed, under which it is shown that the controllability of a multi-agent system is solely decided by its communication topology structure. We then further consider the effects of communication topology on the controllability from a graph theory point of view by explicitly constructing topologies. The construction exhibits a partition of the designed graph with identified leaders under which the system is shown to be uncontrollable.
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