Please use this identifier to cite or link to this item: https://doi.org/10.1080/00207170903171330
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
Double-integrator
Multi-agent system
Single-integrator
State delay
Switching topology
Issue Date: Feb-2010
Citation: Ji, Z., Wang, Z., Lin, H., Wang, Z. (2010-02). Controllability of multi-agent systems with time-delay in state and switching topology. International Journal of Control 83 (2) : 371-386. ScholarBank@NUS Repository. https://doi.org/10.1080/00207170903171330
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. © 2010 Taylor & Francis.
Source Title: International Journal of Control
URI: http://scholarbank.nus.edu.sg/handle/10635/55418
ISSN: 00207179
DOI: 10.1080/00207170903171330
Appears in Collections:Staff Publications

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