CONTROLLABILITY IMPROVEMENT FOR LINEAR TIME-INVARIANT DYNAMICAL MULTI-AGENT SYSTEMS
Ning Cai, Jianxiang Xi, Yisheng Zhong, Haiying Ma · 2012
For two types of linear time-invariant dynamical multi-agent systems un- der leader-follower framework, the problem of graph topology adjustment is addressed to improve system controllability. As important concepts and theoretical foundations, the maximum controllability index of square matrices is defined and analyzed, and a general- ized controllability canonical form is introduced for single-input systems. Based on these concepts, approaches for adjusting the leader-follower and follower-follower communica- tion architectures are presented respectively.