Title :
Controllability of Multi-agent Systems with Switching Topology
Author :
Ji, Zhijian ; Lin, Hai ; Lee, Tong Heng
Author_Institution :
Sch. of Autom. Eng., Qingdao Univ., Qingdao
Abstract :
The paper studies a class of formation control problem, i.e. the controllability for multi-agent systems. The contribution includes several necessary and/or sufficient conditions for the controllability under multiple leaders and switching topology. The results are not only necessary and/or sufficient, but also indicate to a certain degree how the controllability be impacted by the evolvement of the corresponding dynamic networks and the switched interconnection topologies.
Keywords :
controllability; multi-agent systems; multi-robot systems; path planning; controllability; formation control problem; multi-agent systems; switched interconnection topologies; switching topology; Automatic control; Automation; Control systems; Controllability; Graph theory; Multiagent systems; Nearest neighbor searches; Network topology; Symmetric matrices; Vehicle dynamics; Multi-agent systems; controllability; graph theory; switched systems;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681490
