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|Title:||A graph-theoretic characterization of structural controllability for multi-agent system with switching topology|
|Citation:||Liu, X., Lin, H., Chen, B.M. (2009). A graph-theoretic characterization of structural controllability for multi-agent system with switching topology. Proceedings of the IEEE Conference on Decision and Control : 7012-7017. ScholarBank@NUS Repository. https://doi.org/10.1109/CDC.2009.5399886|
|Abstract:||This paper considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems with a single leader under switching topologies is investigated. The structural controllability of multi-agent systems is a generalization of the traditional controllability concept for dynamical systems, and purely based on the communication topologies among agents. The main contribution of the paper is a graph-theoretic characterization of the structural controllability for multi-agent systems. It turns out that the multi-agent system with switching topology is structurally controllable if and only if the union graph G of the underlaying communication topologies is connected. Finally, the paper concludes with several illustrative examples and discussions of the results and future work. ©2009 IEEE.|
|Source Title:||Proceedings of the IEEE Conference on Decision and Control|
|Appears in Collections:||Staff Publications|
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