Formation controllability of high-order linear time-invariant swarm systems
Ning Cai, Yisheng Zhong · IET Control Theory and Applications · 2010
The controllability problem of high-order linear time-invariant (LTI) continuous-time swarm systems is investigated. A necessary and sufficient condition for complete controllability of homogeneous swarm systems is given. The controllability of graph is important and is analysed in detail. The concept of formation controllability is proposed and the relationship between complete controllability and formation controllability is studied.