基于一致性算法的多智能体系统能控性性质

针对多智能体系统能控性方面的问题，采用图论及矩阵的方法研究了多智能体系统在对称拓扑和多领航者情况下的能控性，给出了拓扑结构为对称的系统能控性的几个性质。在领航者为多个时，指出了不对称的拓扑结构不再是多智能体系统能控性的必要条件。证明结果表明，图中连通枝的对称性（不是整个图对称）将导致系统的不能控以及在领航者是多个的情况下，如果领航者是来自任意的单元素单元，那么系统是不能控的。该结果为分析基于一致性算法的多智能体能控性提供了新的启示。

Some Properties on Consensus-Based Multi-Agent Controllability

The paper in view of the controllability problem,studies the controllability of multi-agent systems under symmetric toplogies and multiple leaders through the graph theory and matrix method.several properties are revealed with respect to a constructed symmetric toplogy structure.It was shown that asymmetric topology is no longer a nrcessary condition for the controllability of multi-agent systems when leaders are multiple.In particular,it was proved that the symmetry of a component rather than the whole graph will cause the uncontrollability of the system.In case the leaders are multiple,we show that the system is uncontrollable when leaders come from any trivial cells.The results shed some nes lights on the consensus-based multi-agent controllabiliyt.