Title :
A graph theory based characterization of controllability for multi-agent systems with fixed topology
Author :
Ji, Zhijian ; Lin, Hai ; Lee, Tong Heng
Author_Institution :
Sch. of Autom. Eng., Qingdao Univ., Qingdao, China
Abstract :
The paper studies a class of formation control problem, i.e. the controllability for multi-agent systems under leader-follower framework. A new concept leader-follower connectedness is proposed to deal with what is the desired extent of connectivity between the leader and follower subgraphs for a multi-agent system to be controllable. Analysis based on this concept yields graph theory based characterizations for the controllability of interconnection dynamic networks with fixed topologies.
Keywords :
controllability; graph theory; multi-agent systems; position control; topology; controllability; formation control problem; graph theory based characterization; interconnection dynamic networks; leader-follower connectedness; leader-follower framework; multi-agent systems; Centralized control; Control systems; Controllability; Convergence; Graph theory; Joining processes; Multiagent systems; Symmetric matrices; Topology; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738636
