Distributed verification of controllability for weighted out-tree based topology

In this paper, the controllability problem for multi-agent systems is investigated based on leader-follower structure. We focus on an out-tree topology which leads to minimum information exchange among agents. New necessary and sufficient conditions for the controllability of the system are established. Based on out-trees, controllability of several extended topologies are investigated as well.

[1]  H.G. Tanner,et al.  On the controllability of nearest neighbor interconnections , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[2]  Hai Lin,et al.  A graph theory based characterization of controllability for multi-agent systems with fixed topology , 2008, 2008 47th IEEE Conference on Decision and Control.

[3]  Long Wang,et al.  Controllability of a class of multi-agent systems with a leader , 2006, 2006 American Control Conference.

[4]  Wei Ding,et al.  Collective motions and formations under pursuit strategies on directed acyclic graphs , 2010, Autom..

[5]  Mohsen Zamani,et al.  Structural controllability of multi-agent systems , 2009, 2009 American Control Conference.

[6]  M. Egerstedt,et al.  Leader-based multi-agent coordination: controllability and optimal control , 2006, 2006 American Control Conference.

[7]  Antonio Bicchi,et al.  Observability and controllability verification in multi-agent systems through decentralized Laplacian spectrum estimation , 2010, 49th IEEE Conference on Decision and Control (CDC).

[8]  Hai Lin,et al.  Structural controllability of high order dynamic multi-agent systems , 2010, 2010 IEEE Conference on Robotics, Automation and Mechatronics.

[9]  Andrea Gasparri,et al.  Decentralized Laplacian eigenvalues estimation for networked multi-agent systems , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[10]  Meng Ji,et al.  A Graph-Theoretic Characterization of Controllability for Multi-agent Systems , 2007, 2007 American Control Conference.

[11]  Ching-tai Lin.  Structural controllability , 1974 .

[12]  M. Egerstedt,et al.  Controllability analysis of multi-agent systems using relaxed equitable partitions , 2010 .

[13]  Guangming Xie,et al.  On the controllability of multiple dynamic agents with fixed topology , 2009, 2009 American Control Conference.

[14]  Tong-heng Lee,et al.  Downer and Perron branches in interconnection topologies for coordination and control of multi-agent networks , 2010, 2010 8th World Congress on Intelligent Control and Automation.

[15]  Jing Guo,et al.  Local control strategy for moving-target-enclosing under dynamically changing network topology , 2010, Syst. Control. Lett..