[1]WANG Kang,JI Zhijian,CHAO Yongcui.A control strategy for maitaining controllability and observability of a multi-agent system with the second-order neighborhood protocol[J].CAAI Transactions on Intelligent Systems,2017,12(2):213-220.[doi:10.11992/tis.201601022]
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A control strategy for maitaining controllability and observability of a multi-agent system with the second-order neighborhood protocol

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 2 Page number: 213-220 Column: 学术论文—智能系统 Public date: 2017-05-05
Title:
A control strategy for maitaining controllability and observability of a multi-agent system with the second-order neighborhood protocol
Author(s):
WANG Kang;  JI Zhijian;  CHAO Yongcui
School of Automation Engineering, Qingdao University, Qingdao 266071, China
Keywords:
multi-agent system; second-order neighborhood protocol; time varying topologies; structural controllability; controllability; observability; graph theory
CLC:
TP13
DOI:
10.11992/tis.201601022
Abstract:
In order to study the characteristics of the consensus, controllability and observability of multi-agent systems, we analyze the consensus speed of a multi-agent system with time-varying topologies under first-order and second-order neighborhood protocols. By utilizing the properties of the structural controllability and the relationship between the second-smallest eigenvalue of the Laplacian matrix and the consensus speed, we designed a control strategy to maintain both controllability and observability. In addition, we concluded that the multi-agent system had a faster consensus speed under the second-order neighborhood protocol. Using examples and simulations, we verified the two main theorems proposed in this paper, with our observed results in full agreement with the conclusions of our theoretical analysis.
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