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Title: Structural controllability of high order dynamic multi-agent systems
Authors: Partovi, A.
Hai, L. 
Zhijian, J.
Keywords: Graphs
High-order dynamic agents
Multi-agent systems
Structural controllability
Issue Date: 2010
Citation: Partovi, A.,Hai, L.,Zhijian, J. (2010). Structural controllability of high order dynamic multi-agent systems. 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 : 327-332. ScholarBank@NUS Repository.
Abstract: Recently, the controllability problem of multi-agent systems is significantly explored; however, the majority of studies have been focused on the classical controllability approaches. This paper investigates the necessary and sufficient conditions of structural controllability for high order dynamic multi-agent systems. We consider a group of agents in a leader-follower framework under a fixed topology structure. It is assumed that, the agents interconnection is a weighted graph with freely chosen weights and each agent has a high order controllable canonical dynamic. Under this setup we show that the structural controllability of such a network is directly determined by agent interconnection. It is shown that a set of weights can be found which make the entire network controllable if and only if the graph is connected. Finally, we present a numerical example and simulation to illustrate the results. ©2010 IEEE.
Source Title: 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
ISBN: 9781424465033
DOI: 10.1109/RAMECH.2010.5513168
Appears in Collections:Staff Publications

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