Abstract
The paper studies the controllability problem for multi-agent systems with leader-follower structure. The relationship between system controllability and communication topology is characterized based on graph theory. A graph theoretic criterion for controllability is provided. The concept of symmetry is extended to multi-leaders systems through permutation group theory, it is proved that both topology symmetry and equitable partition are two special cases of relaxed equitable partitions. Simulation results show effectiveness of proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 1621-1626+1631 |
| Journal | Kongzhi yu Juece/Control and Decision |
| Volume | 26 |
| Issue number | 11 |
| State | Published - Nov 2011 |
Keywords
- Controllability
- Multi-agent system
- Orbit partition
- Relaxed equitable partition
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