Relative controllability of delay multi-agent systems under switching topologies
Xiaobin Yu, Hongwei Shi, Yuanchao Si · International Journal of Control · 2025
This paper investigates the relative controllability of multi-agent systems subject to communication delay under switching topologies. We compress the multi-agent systems to a switched delay system and provide a new method to construct its solution under a switching sequence. We also establish a new Gramian-type matrix criterion and present an explicit control input achieving the terminal goal for the switched system. Furthermore, we construct a novel nested subspace to characterise the controllable subspace. On this basis, we establish a relative controllability criterion associated with the controllable subspace. The minimum energy required to achieve relative controllability is derived. We demonstrate the effectiveness of relative controllability criteria and corresponding control input with an illustrative example.