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Controllability of switching networks of multi‐agent systems
Author(s) -
Liu Bo,
Chu Tianguang,
Wang Long,
Zuo Zhiqiang,
Chen Guanrong,
Su Housheng
Publication year - 2012
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1713
Subject(s) - controllability , topology (electrical circuits) , multi agent system , computer science , network controllability , network topology , control theory (sociology) , telecommunications network , control (management) , k nearest neighbors algorithm , distributed computing , mathematics , computer network , artificial intelligence , combinatorics , betweenness centrality , centrality
SUMMARY This paper addresses the controllability of a switching network of multi‐agent systems with a leader obeying nearest‐neighbor communication rules. The leader is a particular agent acting as an external input to control other member agents. Some computationally efficient sufficient conditions for such multi‐agent systems to be controllable are derived. The results show that a multi‐agent system can be controllable even if each of its subsystem is not controllable, by appropriately selecting one of the agents as the leader and suitably designing the neighbor‐interaction rules via a switching topology. The fixed topology case is analyzed and new controllability conditions and formula of inputs for the desired formation of the network are presented. The controllability of a switching network of multi‐agent systems in the presence of communication delay is also investigated. Examples with numerical simulations are given to illustrate the theoretical results. Copyright © 2011 John Wiley & Sons, Ltd.