Abstract
This paper proposes a new second-order discrete-time multiagent model and addresses the controllability of second-order multiagent system with multiple leaders and general dynamics. The leaders play an important role in governing the other member agents to achieve any desired configuration. Some sufficient and necessary conditions are given for the controllability of the second-order multiagent system. Moreover, the speed controllability of the second-order multiagent system with general dynamics is discussed. Particularly, it is shown that the controllability of the whole system relies on the number of leaders and the connectivity between the leaders and the members. Numerical examples illustrate the theoretical results.
Highlights
Motivated by the works above, in this paper, we focus on discussing the controllability of second-order discrete-time multiagent systems with general dynamic topology
This paper has studied the controllability of discrete-time second-order multiagent systems with multiple leaders and general dynamic topology
The results in this paper show that the controllability of discrete-time second-order multiagent systems can only depend on the information from the leaders to the followers, regardless of the connectivity of the members in the network. These studies are helpful in understanding the dynamics of interconnected systems
Summary
Controllability is one of the fundamental issues for coordinated control of multiagent systems which is partly due to the wide applications in communication and computation, as well as cooperative control [1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19]. Tanner had obtained necessary and sufficient conditions of the controllability for first-order multiagent dynamic systems regarding an agent as a leader or the external input. References [10, 14] studied the controllability of continuous-time multiagent systems with timedelay and switching topology, respectively. The controllability of double integrator or second-order multiagent dynamic systems was seldom studied. Motivated by the works above, in this paper, we focus on discussing the controllability of second-order discrete-time multiagent systems with general dynamic topology. (3) The controllability of such second-order discrete-time system with multiple leaders and general dynamics is considered, which cannot be found in the recent literatures. (5) A sufficient and necessary condition for controllability of the second-order system is presented.
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