Abstract
In this manuscript, relative controllability of leader–follower multiagent systems with pairwise different delays in states and fixed interaction topology is considered. The interaction topology of the group of agents is modeled by a directed graph. The agents with unidirectional information flows are selected as leaders, and the others are followers. Dynamics of each follower obeys a generic time-invariant delay differential equation, and the delays of agents, which satisfy a specified condition, are different one another because of the degeneration or burn-in of sensors. With a neighbor-based protocol steering, the dynamics of followers become a compact form with multiple delays. Solution of the multidelayed system without pairwise matrices permutation is obtained by improving the method in the references, and relative controllability is established via Gramian criterion. Further rank criterion of a single delay system is dealt with. Simulation illustrates the theoretical deduction.
Highlights
The cluster behaviors of multiagent systems are hot topics because of the wide applications of them, such as unmanned air vehicles, satellite formation, underwater robot, etc
Cooperative control of distributed multiagent systems is concerning with the control and operate capabilities with limited processing abilities, locally sensed information, and limited intercomponent communications achieving a collective goal [29]
With reference to [30], this paper considers the relative controllability of multiagent systems with pairwise different delays in states and fixed communication topology
Summary
The cluster behaviors of multiagent systems are hot topics because of the wide applications of them, such as unmanned air vehicles, satellite formation, underwater robot, etc. Wang factors like time delays [8, 28, 36, 37] and switching topology [6, 25], widely existing in the application of formation control [3, 39], flocking [1], and others, are considered while dealing with the consensus of multiagent systems. Relative controllability of multiagent systems with two delays in state is considered in [30] in which Gramian and rank criteria are established, respectively. With reference to [30], this paper considers the relative controllability of multiagent systems with pairwise different delays in states and fixed communication topology.
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