Controllability of multiagent systems based on path and cycle graphs

Liu, Xianzhu

doi:10.1002/rnc.3870

Cited by 68 publications

(32 citation statements)

References 31 publications

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“…As a result, we show interesting topological bounds on the dimension of SSC in such graphs with a given set of leader nodes. We note that our results differ from previous works in this direction in two aspects: first, we specifically study the strong structural controllability of such graphs; second, instead of focusing on complete controllability, we provide tight bounds on the dimesnion of SSC even when the graph is not strong structurally controllable with a given set of leaders [32], [33], [34].…”

Section: Characterization In Paths and Cyclescontrasting

confidence: 56%

On the Computation of the Distance-based Lower Bound on Strong Structural Controllability in Networks

Shabbir

Abbas

Yazıcıoğlu

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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A network of agents with linear dynamics is strong structurally controllable if agents can be maneuvered from any initial state to any final state independently of the coupling strengths between agents. If a network is not strong structurally controllable with a given set of input nodes (leaders), then the dimension of strong structurally controllable subspace quantifies the extent to which a network can be controlled by the same inputs. Computing this dimension exactly is computationally challenging. In this paper, we study the problem of computing a sharp lower bound on the dimension of strong structurally controllable subspace in networks with Laplacian dynamics. The bound is based on a sequence of vectors containing distances between leaders and the remaining nodes in the underlying network graph. Such vectors are referred to as the distanceto-leader vectors. We provide a polynomial time algorithm to compute a particular sequence of distance-to-leader vectors with a fixed set of leaders, which directly provides a lower bound on the dimension of strong structurally controllable subspace. We also present a linearithmic approximation algorithm to compute such a sequence, which provides near optimal solutions in practice. Using these results, we also explore connections between graph-theoretic properties and length of longest such sequences in path and cycle graphs. Finally, we numerically evaluate and compare our bound with other bounds in the literature on various networks. arXiv:1909.03565v1 [eess.SY]

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Section: Characterization In Paths and Cyclescontrasting

confidence: 56%

On the Computation of the Distance-based Lower Bound on Strong Structural Controllability in Networks

Shabbir

Abbas

Yazıcıoğlu

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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“…Multiagent systems (MASs) (eg, sensor networks, multirobot systems) have attracted much attention from both the industry and academia in the past two decades due to their wide applications . Among the various research topics for MASs (see, eg, containment control, formation, flocking, controllability, and coverage control), consensus is one of the main lines of research …”

Section: Introductionmentioning

confidence: 99%

Consensus analysis of hybrid multiagent systems: A game‐theoretic approach

Zheng

et al. 2019

Intl J Robust & Nonlinear

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Summary This paper considers a consensus problem for hybrid multiagent systems, which comprise two groups of agents: a group of continuous‐time dynamic agents and a group of discrete‐time dynamic agents. Firstly, a game‐theoretic approach is adopted to model the interactions between the two groups of agents. To achieve consensus for the considered hybrid multiagent systems, the cost functions are designed. Moreover, it is shown that the designed game admits a unique Nash equilibrium. Secondly, sufficient/necessary conditions of solving consensus are established. Thirdly, we find that the convergence speed of the system depends on the game. By the mechanism design of the game, the convergence speed is increased. Finally, simulation examples are given to validate the effectiveness of the theoretical results.

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“…On the other hand, the effectiveness of some special graphs structure on MAS controllability has been investigated and some necessary and/or sufficient graphical conditions have been established. Results along this line include controllability of path and cycle graphs and tree graphs . In addition, other challenging scenarios involving dynamic topologies, time delay, protocol design, heterogeneous dynamics, and antagonistic interactions have also been investigated , …”

Section: Introductionmentioning

confidence: 99%

Target controllability of multiagent systems under fixed and switching topologies

Guan

Wang

2019

Intl J Robust & Nonlinear

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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.

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Controllability of multiagent systems based on path and cycle graphs

Cited by 68 publications

References 31 publications

On the Computation of the Distance-based Lower Bound on Strong Structural Controllability in Networks

On the Computation of the Distance-based Lower Bound on Strong Structural Controllability in Networks

Consensus analysis of hybrid multiagent systems: A game‐theoretic approach

Target controllability of multiagent systems under fixed and switching topologies

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