A new perspective on cooperative control of multi-agent systems through different types of graph Laplacians

Abstract

In the field of systems and control, many cooperative control problems of multi-agent systems have been actively studied in the past two decades. This article aims to organize extensive existing work on different cooperative control problems into three categories, based on three different types of graph Laplacian matrices involved. A Laplacian matrix is an important representation of graph topology, and depending on the field of its entries, there are three types: ordinary Laplacian (non-negative diagonal entries and non-positive off-diagonal entries), signed Laplacian (arbitrary real entries), and complex Laplacian (arbitrary complex entries). Each type of graph Laplacian is useful in modeling and solving a different set of cooperative control problems. In particular, their algebraic properties are fundamental in characterizing stability and performance of the respective solution algorithms. To our best knowledge, organizing the literature on multi-agent cooperative control through the lens of different graph Laplacians is new.