The controllability study of multiagent systems aims at driving follower agents to achieve any positions from any initial states with the control inputs provided by the leaders. The controllability of leaderfollower networked multiagent systems under the framework of generic linear dynamics is firstly discussed via. It turns out that the multiagent system with switching topology is structurally controllable if and only if the union graph g of the underlying communication. A new perspective to algebraic characterization on. Recently, algebraic characterization of multiagent controllability through its topology has been widely concerned by the systems and control community. We will show how using linear algebra techniques can be analyzed the consensus controllability problem for singular multiagent systems, in which all agents. To this end, the previously studied concepts of link and agent.
Graphtheoretic characterizations of structural controllability for multiagent system with switching topology xiaomeng liua, hai linb. The study of controllability of composite systems started long ago. Datasampling controllability of multiagent systems ima. Controllability of multiagent systems based on leader. Thus for many if not all naturally occurring network systems, structural controllability does not depend on degree distribution and can always be conferred with a single control input. Assume we can freely assign the weights, we propose a su.
On strong structural controllability of networked systems. Then, in order to get rid of the singular perturbation parameter, they split the systems into a slow subsystem and fast subsystem based on the. The notions of agent controllability index, as well as agent and link criticality index were defined to characterize and quantify the importance of individual links and agents to the controllability of the overall network. Structural controllability of multiagent networks arxiv. In this paper, the controllability of multiagent systems under directed topologies is studied, especially on the leader selection problem and the weight adjustment problem. Moreover, the structural controllability of multiagent systems with a switching topology and the structural controllability of higher order multiagent systems were studied in 23 and 24. Structural controllability of multiagent systems with. In this study, the controllability of multiagent systems with secondorder dynamic under discretetime model, which evolve on two time scales. Controllability analysis of multiagent systems with. Structural controllability of multiagent systems subject to partial failure saeid jafari formation control of multi agent systems has emerged as a topic of major interest during the last decade, and has been studied from various perspectives using di erent approaches. A graphical condition for structural controllability based on the information flow graph of the system is provided. In particular, the case of a single leader under a fixed topology is co.
A specific scenario is considered, in which a given graph topology should be converted by creating new leaders and connecting them with the existing followers, with. Structural controllability of multiagent systems ieee conference. Leader selection in multiagent systems subject to partial. In such networks, agents can be considered as identical subnetworks. It turns out that the multi agent system with switching topology is structurally controllable if and only if the union graph g of the underlying communication topologies is connected single leader or leaderfollower connected multi leader.
The paper investigates the structural controllability of leaderfollower multiagent systems under fixed and switching topologies. The authors of 1, and later the authors of 2, examined the graph theoretic characteristics required for a network to be controlled by a single leader. The problem of preservation of structural controllability under simultaneous failures in both the communication links and the agents is investigated. Structural controllability of multiagent systems subject to simultaneous failure of links and agents mohammad amin rahimian, amir g. Pdf controllability of multiagent systems from a graphtheoretic. The role that leaders play in the structural controllability of multi agent system is characterized, and a method is developed to realize structural controllability under single leader.
In this paper, we investigate the controllability of leaderfollower multiagent systems, where the interconnection is directed and weighted. Then we employ balanced partition to classify the interconnection graphs, and study the controllable subspaces with given nontrivial balanced partition. Under this framework, the controllability of the controlled network can be decomposed into two independent problems. Leader localization in multiagent systems subject to. Nodal dynamics, not degree distributions, determine the. Furthermore, because structural controllability implies controllability of a continuum of linearized systems 28, our results can also provide a sufficient condition for controllability for most. Strong structural controllability and leader selection for multiagent systems with unidirectional topology. This definition agrees well with our intuitive notion of control. In this paper, structural controllability of a leaderfollower multiagent system with multiple leaders is studied from a graphtheoretic point of view. The main contributions of this article are graphtheoretic characterisations of the structural controllability for multiagent systems. A general decentralised systems with two control stations was. Controllability of weighted and directed networks with. Formation control of multiagent systems has emerged as a topic of major interest during the last decade, and has been studied from various perspectives using different approaches. Singular multiagent systems, consensus, controllability, structural consensus controllability.
In this work, we consider the controlled agreement problem for multiagent networks, where a collection of agents take on leader roles while the remaining agents execute local. In particular, the structural controllability of multiagent systems. It turns out that this controllability notation purely depends on the topology of the communication scheme, and the multiagent system is controllable if and only if. Abstractfor an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. Graphtheoretic characterisations of structural controllability for multi. Abstractrecently, the controllability problem of multiagent systems is signi. We consider a group of agents in a leaderfollower framework under a fixed. A graphtheoretic characterization of controllability for multiagent systems. Recently, the controllability problem of multiagent systems is significantly explored. Some new algebratheoretic necessary andor sufficient conditions of the controllability for. In 24, the structural controllability, as opposed to the controllability of a xed model, is studied for a singleleader multiagent system. Pdf structural controllability of multiagent systems.
Nodal dynamics, not degree distributions, determine the structural controllability of complex networks. To this end, graphical conditions are first obtained based on the information flow graph of the system. In particular, such conditions are sought for networks in which a collection of the agents take on leader roles while. The analysis of control of linear multiagent systems has recently emerged as an important domain that is receiving a lot of interest from a variety of research communities, and consensus plays a fundamental role in this field of study. On leader selection for performance and controllability in. The concept of controllability from control theory is applied to weighted and directed networks with heterogenous linear or linearized node dynamics subject to exogenous inputs, where the nodes are grouped into leaders and followers. Based on this structural controllability, we propose a necessary and. This work considers the structural controllability of multi. Controllability improvement for multiagent systems. In this paper, the controllability problem for multiagent systems is investigated.
His research involves distributed control, and coordination of team of mobile robots. Controllability analysis of multiagent systems 101 university of pisa. In multiagents systems, it is common to let the nodes of a graph represent the agents. For a multiagent system, necessary and sufficient algebraic conditions for controllability. Network controllability is concerned about the structural controllability of a network. The study of structural controllability of linear systems was followed by the study of controllability of special classes of bilinear systems. Structural controllability of multiagent systems subject to partial failure saeid jafari formation control of multiagent systems has emerged as a topic of major interest during the last decade, and has been studied from various perspectives using di erent approaches. It is assumed that the leader acts as the external or control signal and will not be affected by any other group members. Controllability analysis of multiagent systems using. Structural controllability in multiagent systems is the primary focus of.
This work considers the structural controllability of multiagent systems with leaderfollower architecture. Controllability of multiagent systems from a graph. Controllability of multiagent systems from a graphtheoretic perspective. Controllability and controllable subspace of multiagent. Controllability of multiagent systems with multiple. Meng ji yand magnus egerstedt abstractin this paper, we continue our pursuit of conditions that render a multiagent networked system controllable. Although it has been possible to calculate the conditions for exerting complete control over a directed complex network, for undirected and weighted networks this calculation is inexact. Structural controllability of a network of singleintegrator agents with leaderfollower architecture was investigated. First, the asynchronous data sampling protocols and synchronous data sampling protocols are proposed, respectively. Moreover, the structural controllability of multiagent systems with a switching topology and the structural controllability of higher order multi agent systems were studied in 23 and 24. It is closely related to the leaderfollower coordination.
Structural controllability of multiagent systems with absolute protocol under fixed and switching topologies. Controllability of multiagent systems from a graphtheoretic. This paper investigates the necessary and sufficient conditions of structural controllability for high order dynamic multiagent systems. First, we give algebraic criteria to check controllability. Sufficient andor necessary conditions are established for the group controllability of discretetime multiagent systems, which means controllability with and without input delay is equivalent to that of an equivalent augmented system without timedelays. A graphtheoretic characterization of controllability for. In ghosh and ruths 2014b the necessary and sufcient. Aghdam abstract in this paper, structural controllability of a leaderfollower multiagent system with multiple leaders is studied from a. First, for a group of singleintegrator agents, the controllability is studied in a unified framework for both networks with leaderfollowing structure and networks with undirected graph. Gilbert 1, davison and wang 2, and porter 3 were some of the early researchers endeavoring to develop criteria for checking the controllability of. In this paper, structural controllability of a leaderfollower multi agent system with multiple leaders is studied from a graphtheoretic point of view.
Structural controllability of multiagent systems with absolute. Controllability of multiagent systems based on agreement. Controllability of heterogeneous multiagent systems. Structural consensus controllability of singular multiagent linear dynamic systems pdf. A networked system of the form above is called weakly strucjournal of latex class files, vol. The notions of p link and q agent controllability in a multileader setting are then introduced, which provide quantitative measures for the controllability of a system subject to failure in the agents and communication links. Structural controllability of multiagent systems subject. Group controllability of discretetime multiagent systems. Structural consensus controllability of singular multi. Structural controllability of high order dynamic multi. Proceedings of the 2015 chinese intelligent systems conference, 415426. In this paper, we consider datasampling controllability of multiagent systems mass, where the interconnection topology is directed and weighted and the nodes have generic linear kinetic dynamics.
Controllability describes our ability to guide a dynamical system from any initial state to any desired final state in finite time, with a suitable choice of inputs. Pdf structural controllability of high order dynamic. Currently, he is a phd student in robotics automation and bioengineering at the interdepartmental research center e. Structural conrollability of multiagent systems subject. One application domain is provided by real world networks modeled as homogeneous multiagent systems, such as those used in formation control. Necessary and sufficient graphical conditions are provided for structural controllability based on communication topology of the system. In this paper, structural controllability of a leaderfollower multi agent system with multiple leaders is studied from a graph theoretic point of view. A controllability synthesis problem for dynamic multi.
Then, the notions of plink and qagent controllability are introduced as quantitative measures for the structural controllability of a system subject to. Controllability of multiagent systems based on leader symmetryj. On leader selection for performance and controllability in multiagent systems andrew clark, linda bushnell, and radha poovendran department of electrical engineering, university of washington, seattle, wa, 98195, usa abstractin a leaderfollower multiagent system mas, a set of leader agents act as external control inputs and are used. The authors first characterise the systems by difference equations with a singular perturbation parameter. Hadjicostis, senior member, ieee abstract we develop a graphtheoretic characterization of controllability and observability of linear systems over. Chena, fellow, ieee abstract this paper considers the controllability problem for multiagent systems. This paper investigates the controllability of multiagent systems based on agreement protocols.
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