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

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Abstract

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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Acknowledgments

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

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Authors and Affiliations

  1. Center for Complex Systems, School of Mechano-Electronic Engineering, Xidian University, Xi’an, 710071, China

    Yongqiang Guan

  2. Center for Systems and Control, College of Engineering, Peking University, Beijing, 100871, China

    Long Wang

Authors
  1. Yongqiang Guan
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  2. Long Wang
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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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  • DOI: https://doi.org/10.1007/s11432-016-0498-8

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