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Please use this identifier to cite or link to this item: http://bura.brunel.ac.uk/handle/2438/4057

Title: Controllability of multi-agent systems with time-delay in state and switching topology
Authors: Ji, Z
Wang, Z
Lin, H
Wang, Z
Keywords: Controllability
Multi-agent system
Single-integrator
Double-integrator
Switching topology
State delay
Publication Date: 2010
Publisher: Taylor and Francis
Citation: International Journal of Control. 83 (2): 371-386
Abstract: In this article, the controllability issue is addressed for an interconnected system of multiple agents. The network associated with the system is of the leader-follower structure with some agents taking leader role and others being followers interconnected via the neighbour-based rule. Sufficient conditions are derived for the controllability of multi-agent systems with time-delay in state, as well as a graph-based uncontrollability topology structure is revealed. Both single and double integrator dynamics are considered. For switching topology, two algebraic necessary and sufficient conditions are derived for the controllability of multi-agent systems. Several examples are also presented to illustrate how to control the system to shape into the desired configurations.
URI: http://bura.brunel.ac.uk/handle/2438/4057
DOI: http://dx.doi.org/10.1080/00207170903171330
ISSN: 0020-7179
Appears in Collections:Computer Science
Dept of Computer Science Research Papers

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