Controllability of discrete-time multi-agent systems with directed topology and input delay

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Summary This paper investigates the synchronization problem of generic linear multiagent systems via integral‐type event‐triggered control. Each agent can only utilize the intermittent information of its neighboring agents in the control scheme. Based on the integral‐type event conditions, an event‐triggered control protocol is designed to guarantee the synchronization of multiagent systems, and Zeno behavior is excluded by showing the existence of a positive lower bound on the inter‐event intervals. Then, we propose the integral‐type event‐triggered control algorithms to study the leader‐following synchronization. It is shown that under the control algorithms all the followers track the leader and no Zeno behavior occurs. The effectiveness of the proposed control schemes is demonstrated by simulation examples.

“…In the following, we state the main result based on the designed control protocol (3) and event condition (5).…”

Section: Event-triggered Synchronizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed integral‐type event‐triggered synchronization of multiagent systems

Zhang

Wang

2018

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“…The distributed coordination control of MASs has many practical applications, for example, flocking in biology groups, unmanned aerial vehicle cooperative formation, and attitude adjustment of spacecrafts, to name a few. Some basic and important issues were studied including consensus problem, formation control, and controllability and stabilizability . In the following, this paper takes MASs as a representative to discuss controllability of networks.…”

Section: Introductionmentioning

confidence: 99%

Controllability of heterogeneous multiagent systems

Zhao

Chen

Guan

et al. 2019

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Summary The existing results on controllability of multiagent systems (MASs) are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous MASs, where the agents are modeled as two types. One type is that the agents have the same high‐order dynamics, and the interconnection topologies of the information flow in different orders are supposed to be different; the other type is that the agents have generic linear dynamics, and the dynamics are supposed to be heterogeneous. For the first type, the necessary and sufficient condition for controllability of heterogeneous‐topology system is derived via combination of Laplacian matrices. For the second type, the contribution also has two parts. The first part supposes that the agents have the same dimensional states and proves that controllability of this kind of MASs is equivalent to the controllability of each node and the whole interconnection topology, while the last parameter of the state feedback vector must not be 0. The second part supposes that the agents may have different dimensional states. For this kind of systems, the concept of β‐controllability is proposed. The necessary and sufficient condition for β‐controllability of heterogeneous‐dynamic systems is also derived and it is also proved that the feedback gain vectors have the effect to improve controllability. Different illustrative examples are provided to demonstrate the effectiveness of the theoretical results in this paper.

“…Especially, tree graph was studied in , and necessary and sufficient conditions were proposed in terms of downer branch and subgraphs to characterize controllability. In addition, there are some other relevant results, for example, results on controllability were derived with respect to protocols design , heterogeneous dynamics , identification of topology structures , switching topology , time‐delay and structural controllability , and so on.…”

Section: Introductionmentioning

confidence: 99%

Controllability of multi‐agent systems under directed topology

Guan

Zhang

et al. 2017

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Summary 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 © 2017 John Wiley & Sons, Ltd.