Controllability of multi‐agent systems under directed topology |
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| Authors: | Yongqiang Guan Zhijian Ji Lin Zhang Long Wang |
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| Affiliation: | 1. Center for Complex Systems, School of Mechano‐Electronic Engineering, Xidian University, Xi'an, Shaanxi, China;2. Institute of Automation Engineering, Qingdao University, Qingdao, China;3. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China;4. Center for Systems and Control, College of Engineering, Peking University, Beijing, China |
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| Abstract: | In this paper, the controllability of multi‐agent systems is studied under leader‐follower framework, where the interconnection between agents is directed. The concept of leader‐follower connectedness is first introduced for directed graph to check controllability, and some graph‐theoretic conditions are derived for constructively designed topologies. Then, distance partition and almost equitable partition are employed to quantitatively study the controllable subspaces. Moreover, the relationship between the state invariance of multi‐agent systems and the existence of almost equitable partition is discussed. Copyright © 2017 John Wiley & Sons, Ltd. |
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| Keywords: | multi‐agent systems controllability leader‐follower connectedness distance partition almost equitable partition |
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