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Structural controllability of multi-agent systems with absolute protocol under fixed and switching topologies

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The paper investigates the structural controllability of leader-follower multi-agent systems under fixed and switching topologies. Three models of agents: double-integrator, high-order integrator and generallinear dynamics are analyzed. Necessary and sufficient graphical conditions are provided for structural controllability based on communication topology of the system. In particular, a linear neighbor-based control protocol is designed for generic linear agents under which structural controllability is proved to be uniquely determined by communication topology structure. The role that leaders play in the structural controllability of multi-agent system is characterized, and a method is developed to realize structural controllability under single leader. The results clearly indicate the role of leaders and the effect of communication topology on structural controllability.

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This work was supported by National Natural Science Foundation of China (Grant Nos. 61375120, 61533001, 61603288).

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Correspondence to Long Wang.

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Guan, Y., Wang, L. Structural controllability of multi-agent systems with absolute protocol under fixed and switching topologies. Sci. China Inf. Sci. 60, 092203 (2017). https://doi.org/10.1007/s11432-016-0498-8

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  • multi-agent systems
  • structural controllability
  • absolute protocol
  • leader-follower connectedness
  • switching topology