Controllability of heterogeneous multi-agent systems under directed and weighted topology

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Summary In this article, the target controllability of multiagent systems under fixed and switching topologies is investigated, respectively. In the fixed topology setting, some necessary and/or sufficient algebraic and graph‐theoretic conditions are proposed, and the target controllable subspace is quantitatively studied by virtue of almost equitable graph vertex partitions. In the switching topology setting, based on the concepts of the invariant subspace and the target controllable state set, some necessary and sufficient algebraic conditions are obtained. Moreover, the target controllability is studied from the union graph perspective. The results show that when the union graph of all the possible topologies is target controllable, the multiagent system would be target controllable even if each of its subsystems is not. Numerical simulations are provided finally to verify the effectiveness of the theoretical results.

Section: Introductionmentioning

confidence: 99%

Target controllability of multiagent systems under fixed and switching topologies

Guan

Wang

2019

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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%

“…For example, the dynamics of marine vehicles on surface and underwater are quite different, and the robots of different generations act differently during the formation progress . In the cooperative combat of the navy, army, and air forces, the battle units have different dynamic behaviors . One calls these systems as heterogeneous‐dynamic MASs.…”

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.

“…The concept of the controllability of multiagent systems was first proposed in a leader‐follower structure in the work of Tanner . Since then, lots of investigations have been widely reported, eg, controllability for first‐order and high‐order multiagent systems,() controllability by using almost equitable partitions and distance partitions,() controllability of heterogeneous multiagent systems, observability,() controllability over finite fields,() and protocols design …”

Section: Introductionmentioning

confidence: 99%

Controllability of discrete‐time multiagent systems with switching topology

Zhang

Wang

2018

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Summary The current theoretical investigation on the controllability of switched multiagent systems mainly focuses on fixed connected topology or union graph without nonaccessible nodes. However, for discrete‐time multiagent systems with switching topology, it is still unknown whether the existing results are valid or not under the condition of arbitrary topology. Based on graph distance partitions and Wonham's geometric approach, we provide the lower and upper bounds for the dimension of controllable subspaces of discrete‐time multiagent systems. Unlike the existing results of controllability with switching topology, the proposed results have the advantage of being applicable to multiagent systems with arbitrary graphic topologies, union graph (strongly connected or not), and coupling weights. We also provide 2 algorithms for computing the lower and upper bounds for the dimension of controllable subspaces, respectively. Furthermore, as a remarkable application, we present how the proposed lower bound can be utilized for achieving the targeted controllability if the dimension of the controllable subspace of the switched system satisfies certain conditions.