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A graph theory based characterization of controllability for multi-agent systems with fixed topology

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3 Author(s)
Zhijian Ji ; Sch. of Autom. Eng., Qingdao Univ., Qingdao, China ; Hai Lin ; Tong Heng Lee

The paper studies a class of formation control problem, i.e. the controllability for multi-agent systems under leader-follower framework. A new concept leader-follower connectedness is proposed to deal with what is the desired extent of connectivity between the leader and follower subgraphs for a multi-agent system to be controllable. Analysis based on this concept yields graph theory based characterizations for the controllability of interconnection dynamic networks with fixed topologies.

Published in:

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Date of Conference:

9-11 Dec. 2008