Research On The Controllability And Structural Controllability Of Multi-agent Systems Under Switching Topology

Multi-agent system is a new interdisciplinary which attracts the wide attention of scholars from home and abroad.The system controllability of switching topologies has become a hot issue in the study of multi-agent systems.Moreover,in order to study controllability in depth,structural controllability of the system with switching topologies has also been a hot research area in recent years.The main contents of this paper are listed as follows:First,it simply presents the research background and status of multi-agent systems and puts forward the research value and significance of the multi-agent systems.At the same time,there are some knowledge theories prepared for the reasearch of multi-agent systems,including graph theory,matrix theory,linear switching theory and controllability criterions,etc.Second,in view of the multi-agent single integrator model,the controllability of multi-agent systems with switching topologies are researched mainly from the framework of leader-follower.Controllability criterion of the system under switching topologies,based on the perspective of linear space,has been presented.Meanwhile,it is proved that the controllability of a multi-leaders system under switching topologies is equivalent to that of a single-leader system under switching topologies.In order to ensure the controllability of the system,the periodic switching sequences and non-periodic switching sequences have been designed respectively.At last,the controllability of multi-agent system with switching topologies and time-delay has been researched simply.Third,according to multi-agent systems composed of the single integrator models,the structural controllability of the systems switching topologies under different control input agreements has been disscussed.From the perspective of graph theory,it illustrates the structural controllability of multi-agent systems with switching topologies under the sufficient condition.And the graphic examples has proved the structural controllability of multi-agent systems with switching topologies.