Some Properties on Consensus-Based Multi-Agent Controllability
Zhijian Ji · Journal of Qingdao University · 2012
The paper in view of the controllability problem,studies the controllability of multi-agent systems under symmetric toplogies and multiple leaders through the graph theory and matrix method.several properties are revealed with respect to a constructed symmetric toplogy structure.It was shown that asymmetric topology is no longer a nrcessary condition for the controllability of multi-agent systems when leaders are multiple.In particular,it was proved that the symmetry of a component rather than the whole graph will cause the uncontrollability of the system.In case the leaders are multiple,we show that the system is uncontrollable when leaders come from any trivial cells.The results shed some nes lights on the consensus-based multi-agent controllabiliyt.