Structural controllability of higher-order multi-agent systems under absolute and relative protocols

Author

Guan Yongqiang ; Ji Zhijian ; Zhang Lin ; Wang Long

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China

fYear

2013

Firstpage

6832

Lastpage

6837

Abstract

The paper investigates the structural controllability of leader-follower multi-agent systems under absolute and relative protocols. Three models of agents: double integrator, high-order integrator, and generic linear are analyzed. Some necessary and sufficient graphical conditions are provided for structural controllability based on information communication graph of the system. In particular, linear absolute and relative protocols are designed for generic linear agents under which structural controllability is proved to be uniquely determined by information communication graph.

Keywords

controllability; decentralised control; graph theory; double integrator; generic linear agent models; high-order integrator; higher-order multiagent systems; information communication graph; leader-follower multiagent systems; linear absolute protocol design; linear relative protocol design; necessary and sufficient graphical conditions; structural controllability; Controllability; Educational institutions; Multi-agent systems; Protocols; Topology; Vectors; Absolute protocol; Multi-agent systems; Reachable; Structural controllability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2013 32nd Chinese

Conference_Location

Xi´an

Type

conf

Filename

6640639