Non-fragility of multi-agent controllability

Zhao, Bin; Guan, Yongqiang; Wang, Long

doi:10.1007/s11432-017-9129-y

Cited by 9 publications

(5 citation statements)

References 28 publications

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“…Minimal controllability problem (MCP) that aims to determine the minimum number of state variables that need to be actuated to ensure systems controllability was studied in [21,22]. In study [23], two algorithms are established for selecting the fewest leaders to preserve the controllability and the algorithm for leaders locations to maximize non-fragility is also designed. Necessary and sufficient conditions to characterize all and only the nodes from which the path or cycle network systerm is controllability were provided in [24,25].…”

Section: Literature Reviewmentioning

confidence: 99%

On the Leaders' Graphical Characterization for Controllability of Path Related Graphs

Dai¹,

Xie³

2019

Preprint

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The problem of leaders location plays an important role in the controllability of undirected graphs.The concept of minimal perfect critical vertex set is introduced by drawing support from the eigenvector of Laplace matrix. Using the notion of minimal perfect critical vertex set, the problem of finding the minimum number of controllable leader vertices is transformed into the problem of finding all minimal perfect critical vertex sets. Some necessary and sufficient conditions for special minimal perfect critical vertex sets are provided, such as minimal perfect critical 2 vertex set, and minimal perfect critical vertex set of path or path related graphs. And further, the leaders location problem for path graphs is solved completely by the algorithm provided in this paper. An interesting result that there never exist a minimal perfect critical 3 vertex set is proved, too.

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Section: Literature Reviewmentioning

confidence: 99%

On the Leaders' Graphical Characterization for Controllability of Path Related Graphs

Dai¹,

Xie³

2019

Preprint

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“…This is partly due to its broad applications ranging from self-organized sensor networks to formation control of mobile robots. Many critical problems are investigated in cooperative control, such as consensus [6][7][8][9][10][11][12][13], stabilizability [14,15], and controllability [16][17][18][19][20][21][22][23][24][25]. Among all the aforementioned research issues, controllability is a critical problem of multi-agent systems.…”

Section: Introductionmentioning

confidence: 99%

“…Following that, the controllability was investigated from a graph-theoretic perspective [17][18][19][20]. There are some other studies, e.g., results on structural controllability [21], and target control [22].…”

Section: Introductionmentioning

confidence: 99%

Controllability analysis of multi-agent systems with switching topology over finite fields

Zhang

Wang

2018

Sci. China Inf. Sci.

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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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“…Distributed control of networked systems has drawn great attention of researchers in various fields owing to its wide applications [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20]. Therein, consensus problems of multi-agent systems are of great interest, and they aim to drive all agents to reach a common state with limited and unreliable information transmission by designing appropriate control laws.…”

Section: Introductionmentioning

confidence: 99%

Hybrid event- and time-triggered control for double-integrator heterogeneous networks

Duan

Xiao

Wang

2018

Sci. China Inf. Sci.

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This paper investigates the state consensus for double-integrator networks under heterogeneous interaction topologies. For double-integrator networks, the setting of heterogeneous topologies means that position and velocity information flows are modeled by two different graphs. The corresponding protocol proposed in this paper is based on edge-event-triggered control. The events based on position information are irrelevant to velocity information and independent of the events based on velocity information. And for different edges, the corresponding events are activated independently of each other. Once an event occurs, the agents connected by the associated edge will sample their corresponding relative state information and update their corresponding controllers. Furthermore, under the presented event-triggering rules, the state consensus of double-integrator networks can be achieved by designing appropriate parameters. In addition, the proposed protocol with the event-triggering rules can effectively improve the system performance and avoid the occurrence of Zeno behaviors. Finally, a simulation example is worked out to verify the theoretical analysis.

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Non-fragility of multi-agent controllability

Cited by 9 publications

References 28 publications

On the Leaders' Graphical Characterization for Controllability of Path Related Graphs

On the Leaders' Graphical Characterization for Controllability of Path Related Graphs

Controllability analysis of multi-agent systems with switching topology over finite fields

Hybrid event- and time-triggered control for double-integrator heterogeneous networks

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