Structural controllability of multi-agent systems

Authors:
Mohsen Zamani;Hai Lin
Affiliations:
Electrical and Computer Engineering Dept., National University of Singapore, Singapore;Electrical and Computer Engineering Dept., National University of Singapore, Singapore
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 1

Distributed Algorithms

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Distributed Coordination Control of Multiagent Systems While Preserving Connectedness

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Brief paper: Leader localization in multi-agent systems subject to failure: A graph-theoretic approach

Automatica (Journal of IFAC)

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Abstract

In this paper, the controllability problem for multi-agent systems is investigated. In particular, the case of a single leader under a fixed topology is considered. In contrast to the existing literature on this topic, we assume that the graph is weighted and we may freely assign the weights. Under this setup, the system is controllable if one may find a set of weights so as to satisfy the classical controllability rank condition. It turns out that this controllability notation purely depends on the topology of the communication scheme, and the multi-agent system is controllable if and only if the graph is connected. Moreover, some simulation results and numerical examples are presented to illustrate the approach.