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Title: Interconnection topologies for multi-agent coordination under leader-follower framework
Authors: Ji, Z.
Wang, Z.
Lin, H. 
Wang, Z.
Keywords: Controllability
Leader-follower structure
Local interactions
Multi-agent systems
Issue Date: Dec-2009
Citation: Ji, Z., Wang, Z., Lin, H., Wang, Z. (2009-12). Interconnection topologies for multi-agent coordination under leader-follower framework. Automatica 45 (12) : 2857-2863. ScholarBank@NUS Repository.
Abstract: In this paper, the formation control problem of the network of multiple agents is studied in terms of controllability, where the network is of the leader-follower structure with some agents taking leaders role and others being followers interconnected via the neighbor-based rule. It is shown that the controllability of a multi-agent system can be uniquely determined by the topology structure of interconnection graph, for which the investigation comes down to that for a multi-agent system with the interconnection graph being connected. Based on these observations, two kinds of uncontrollable interconnection topologies are characterized, and a necessary and sufficient eigenvector-based condition is presented. Our studies also touch upon the selection of leaders. © 2009 Elsevier Ltd. All rights reserved.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/j.automatica.2009.09.002
Appears in Collections:Staff Publications

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