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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 |
Issue 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 |
Files in This Item:
File | Description | Size | Format | |
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Paper_info.txt | 347 B | Text | View/Open |
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