Controllability of heterogeneous multi-agent systems

This paper addresses the controllability problem for a group of autonomous agents modeled by heterogeneous dynamics, where the communication network is directed and weighted. Two kinds of models for controllability of heterogeneous multi-agent systems are proposed. We show that the heterogeneous multi-agent system is controllable if the underlying communication topology is controllable. Furthermore, some necessary and/or sufficient conditions are derived for controllability from the algebraic and graphical perspectives. Finally, simulation example is presented to demonstrate the effectiveness of the theoretical results.