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Controllability of multi-agent systems based on agreement protocols

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Abstract

This paper investigates the controllability of multi-agent systems based on agreement protocols. First, for a group of single-integrator agents, the controllability is studied in a unified framework for both networks with leader-following structure and networks with undirected graph. Some new necessary/sufficient conditions for the controllability of networks of single-integrator agents are established. Second, we prove that, under the same topology and same prescribed leaders, a network of high-order dynamic agents is completely controllable if and only if so is a network of single-integrator agents. Third, how the selection of leaders and the coupling weights of graphs affect the controllability is analyzed. Finally, some numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

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Authors and Affiliations

  1. Center for Systems and Control, College of Engineering and Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, 100871, China

    Long Wang, FangCui Jiang & GuangMing Xie

  2. College of Automation Engineering, Qingdao University, Qingdao, 266071, China

    ZhiJian Ji

Authors
  1. Long Wang
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  2. FangCui Jiang
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  3. GuangMing Xie
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  4. ZhiJian Ji
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Correspondence to Long Wang.

Additional information

Supported by the National Natural Science Foundation of China (Grant Nos. 60674050, 60736022, 10972002, 60774089), and the 11-5 Project (Grant No. A2120061303)

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Wang, L., Jiang, F., Xie, G. et al. Controllability of multi-agent systems based on agreement protocols. Sci. China Ser. F-Inf. Sci. 52, 2074–2088 (2009). https://doi.org/10.1007/s11432-009-0185-7

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  • DOI: https://doi.org/10.1007/s11432-009-0185-7

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