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|Title:||Interconnection topologies for multi-agent coordination under leader-follower framework|
|Source:||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. https://doi.org/10.1016/j.automatica.2009.09.002|
|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.|
|Appears in Collections:||Staff Publications|
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