Research On The Controllability Of Multi - Agent System

The study of multi-agent systems has caused great attention in the academic circles.The controllability research of multi-agent systems is an important research direction. It is a research basis of multi-agent systems. In recent years, controllability research of multi-agent systems has become increasingly mature, and a number of researchers has investigated the controllability of multi-agent systems and formation control from various perspectives. In this paper, the main research contents and contributions are as follows:First, the research background and significance of multi-agent systems’ controllability research is introduced. The research status of multi-agent systems are reviewed. The main research methods of this paper are also addressed.Second, the commonly used symbols are introduced. The related theory of this paper are summarized, including the relevant knowledge of algebraic graph theory, matrix theory and linear system theory.Third, under leader-follower framework, the controllability conditions of multi-agent systems are summarized in single integrator with weighted consistent dynamics,high-order integrator with weighted consistent dynamics and high-order integrator with weighted heterogeneous dynamics. The necessary and sufficient conditions are derived for multi-agent systems to be controllable.Fourth, under a broadcasting control signal, the controllability conditions of multi-agent systems are studied in single integrator with weighted consistent dynamics,high-order integrator with weighted consistent dynamics and high-order integrator with weighted heterogeneous dynamics. A necessary and sufficient conditions are derived for multi-agent systems to be controllable.Fifth, under leader-follower framework, the controllability of the path and the complete graph is analyzed. Finally, the conclusions of this paper are proved through concrete examples.