Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
