Controllability of consensus heterogeneous multi-agent networks over continuous time scale

• Autorzy: Athira V. S. , Muni Vijayakumar S. , Rafeek Kallu Vetty Muhammed , Reddy Gudala Janardhana

Identyfikatory

DOI

10.2478/candc-2023-0037

• Języki publikacji: EN

Abstrakty

EN

The research, presented in this paper, concernes the controllability of a multi-agent network with a directed, unweighted, cooperative, and time-invariant communication topology. The network’s agents follow linear and heterogeneous dynamics, encompassing first-order, second-order, and third-order differential equations over continuous time. Two classes of neighbour-based linear distributed control protocols are considered: the first one utilises average feedback from relative velocities/relative accelerations, and the second one utilises feedback from absolute velocities/absolute accelerations. Under both protocols, the network’s agents achieve consensus in their states asymptotically. We observe that both of the considered dynamical rules exploit the random-walk normalised Laplacian matrix of the network’s graph. By categorising the agents of the network into leaders and followers, with leaders serving as exogenous control inputs, we analyse the controllability of followers within their state space through the influence of leaders. Specifically, matrix-rank conditions are established to evaluate the leader– follower controllability of the network under both control protocols. These matrix-rank conditions are further refined in terms of the system matrices’ eigenvalues and eigenvectors. The inference diagrams presented in this work provide deeper insights into how leader– follower interactions impact the network controllability. The efficacy of the theoretical findings is validated through numerical examples.

Słowa kluczowe

EN

multi-agent systems; controllability; heterogeneous; agent models

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2023
• Tom: Vol. 52, No. 2
• Strony: 199--245
• Opis fizyczny: Bibliogr. 34 poz.

Twórcy

autor

Athira V. S.

• Department of Mathematics, Central University of Karnataka, Kadaganchi P. O., Kalaburagi District 585367, India

autor

Muni Vijayakumar S.

• Department of Mathematics, Smt. Indira Gandhi Government First Grade Women’s College, Sagara P. O., Shivamogga District 577401, India

autor

Rafeek Kallu Vetty Muhammed

• Department of Mathematics, Central University of Karnataka, Kadaganchi P. O., Kalaburagi District 585367, India

autor

Reddy Gudala Janardhana

• Department of Mathematics, Central University of Karnataka, Kadaganchi P. O., Kalaburagi District 585367, India

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