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https://doi.org/10.1016/j.automatica.2009.09.002
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. 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. | Source Title: | Automatica | URI: | http://scholarbank.nus.edu.sg/handle/10635/56366 | ISSN: | 00051098 | DOI: | 10.1016/j.automatica.2009.09.002 |
Appears in Collections: | Staff Publications |
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