Controllability and observability of multi-agent systems with heterogeneous and switching topologies

ABSTRACT

This paper focuses on controllability and observability of multi-agent systems with heterogeneous and switching topologies, where the first- and the second-order information interaction topologies are different and switching. First, based on the controllable state set, a controllability criterion is obtained in terms of the controllability matrix corresponding to the switching sequence. Next, by virtue of the subspace sequence, two necessary and sufficient algebraic conditions are established for controllability in terms of the system matrices corresponding to all the possible topologies. Furthermore, controllability is considered from the graphic perspective. It is proved that the system is controllable if the union graph of all the possible topologies is controllable. With respect to observability, two sufficient and necessary conditions are derived by taking advantage of the system matrices and the corresponding invariant subspace, respectively. Finally, some simulation examples are worked out to illustrate the theoretical results.     

惯性导航传递对准技术发展现状与趋势

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基于弱可观状态分离估计的机载灵巧弹药快速传递对准方法

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基于博弈演化算法的PMU最优配置方法

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经验Gramian平衡降阶在电力系统中的改进及应用

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一种配电网量测系统设计及优化方案

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Active RC synthesis using a voltage amplifier†

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Steady-state decoupling of linear multivariable systems

A constructive criterion for decoupling the steady states of a linear, time-invariant multivariable system is developed. This criterion consists of a set of inequalities which, when satisfied, will cause the steady states to be decoupled. It turns out that pure integrators in the loops play an important role.     

Optimal allocation of phasor measurement unit for full observability of the connected power network

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