Interconnection topologies for multi-agent coordination under leader-follower framework. (English) Zbl 1192.93013
Summary: The formation control problem of the network of multiple agents is studied in terms of controllability, where the network is of the leader-follower structure with some agents taking leaders role and others being followers interconnected via the neighbor-based rule. It is shown that the controllability of a multi-agent system can be uniquely determined by the topology structure of interconnection graph, for which the investigation comes down to that for a multi-agent system with the interconnection graph being connected. Based on these observations, two kinds of uncontrollable interconnection topologies are characterized, and a necessary and sufficient eigenvector-based condition is presented. Our studies also touch upon the selection of leaders.
MSC:
| 93A14 | Decentralized systems |
| 93C35 | Multivariable systems, multidimensional control systems |
| 93B05 | Controllability |
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