[1]WANG Xiaoxiao,JI Zhijian.Controllability of non-identical multi-agent systems under a broadcasting control signal[J].CAAI Transactions on Intelligent Systems,2014,9(4):401-406.[doi:10.3969/j.issn.1673-4785.201401011]
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Controllability of non-identical multi-agent systems under a broadcasting control signal

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 9 Number of periods: 2014 4 Page number: 401-406 Column: 学术论文—智能系统 Public date: 2014-08-25
Title:
Controllability of non-identical multi-agent systems under a broadcasting control signal
Author(s):
WANG Xiaoxiao;  JI Zhijian
College of Automation Engineering, Qingdao University, Qingdao 266071, China
Keywords:
multi-agent system; controllability; non-identical dynamics; neighbor-based rule; broadcasting control signal; graph theory; matrix theory; path; complete graph
CLC:
TP273
DOI:
10.3969/j.issn.1673-4785.201401011
Abstract:
Controllability is a key issue in the study of multi-agent systems, and the controllability of a multi-agent system with non-identical node dynamics which is closer to the actual engineering dynamic network is paramount. So as a result in this paper, the controllability of a multi-agent system is studied by using both the graph theory and the matrix theory, where agents interconnect via the neighbor-based rule and the undirected dynamical system consists of non-identical agents receiving a common exogenous control signal, which is called a broadcasting control signal. A necessary and sufficient condition is derived for a non-identical node dynamics system to be controllable. The controllability of the path and the complete graph is studied under the non-identical node dynamics. It is shown that the controllability of the path and the complete graph changes when the non-identical agents receive a broadcasting control signal. In particular, it is shown that the controllability of a multi-agent system is determined by the topology structure of the interconnection graph and the non-identical dynamics of the agents. Compared with the identical dynamics, the controllability of multi-agent systems exhibits new features and becomes more complicated when the dynamics of the agents is non-identical. Some methods for improving the controllability of a non-identical node dynamics system are also pointed out at the end of the paper.
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