Title :
Formation controllability of high-order linear time-invariant swarm systems
Author :
Cai, Niannian ; Zhong, Y.-S.
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
fDate :
4/1/2010 12:00:00 AM
Abstract :
The controllability problem of high-order linear time-invariant (LTI) continuous-time swarm systems is investigated. A necessary and sufficient condition for complete controllability of homogeneous swarm systems is given. The controllability of graph is important and is analysed in detail. The concept of formation controllability is proposed and the relationship between complete controllability and formation controllability is studied.
Keywords :
continuous time systems; controllability; graph theory; linear systems; position control; complete controllability; continuous time systems; formation controllability; graph controllability; high-order swarm systems; homogeneous swarm systems; linear time-invariant systems;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2008.0202
