In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second, we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph.

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This paper investigates the controllability of first-order and second-order discrete-time multi-agent systems with directed topology and input delay. The problem is studied in the leader-follower framework where a number of agents are selected to be leaders and serve as control inputs to all other agents. Sufficient and necessary conditions are derived for the controllability of first-order discrete-time multi-agent systems. With sampling period and feedback gain satisfying certain conditions, it is proved under three different protocols that the controllability of second-order discrete-time multi-agent systems is equivalent to that of a pair of submatrices of Laplacian matrix. In addition, the controllability of both first-order and second-order discrete-time multi-agent systems with input delay is shown, through some transformations, to be equivalent to that of the transformed non-delayed systems. Finally, some simulation examples are given to illustrate the theoretical results.

This article presents distributed continuous-time algorithms with dynamic event-triggered communication, called the dynamic event-triggered algorithms, to solve a convex optimization problem in a multiagent network. Firstly, a new dynamic event-triggered communication scheme is introduced and it is shown that the optimization problem is solved and occurrence of Zeno behavior is prevented. Secondly, under the dynamic event-triggered communication implementations, both uniform and logarithmic quantized information algorithms are given to solve the optimization problem. Finally, numerical simulations are given to illustrate the effectiveness of the derived results.

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