| In recent years,many scholars have made great achievements in the study of controllability of multi-agent systems,but most of the results focus on the fact that agents are homogeneous,that is,all agents have the same dynamics.However,in practice,agents show different dynamic behaviors due to different dimensions and orders,that is,heterogeneity.In this paper,the controllability of a class of heterogeneous multi-agent systems with first-and second-order mixed integrators is studied in detail by using the basic analytical tools such as graph theory,modern control theory and matrix theory.The details are as follows:1.The establishment of a discrete time state controllability of heterogeneous multi-agent system model,design the absolute control of distributed protocol based on neighbor,configuration of leaders to discuss leaders will effect the controllability of the system,gives a discrete time state of heterogeneous multi-agent system/necessary and sufficient condition of controllability,at the same time,studied and discussed the topology of the discrete system can control its relationship with algebraic controllability.Finally,the theoretical results are verified by Matlab simulation.2.The controllability model of heterogeneous multi-agent system in continuous time state is established,the absolute control distributed protocol based on neighbor is designed,the sufficient/necessary conditions for the controllability of heterogeneous multi-agent system in continuous time state are given,and the relation between graph controllability and algebraic controllability of continuous system is discussed.Finally,the theoretical results are verified by Matlab simulation.3.The controllability of continuous multi-agent systems with time delay is further studied.The geometric criterion for controllability of continuous multi-agent systems with time delay is given by introducing the concepts of cyclic invariant subspace and switching system theory. |
