NDLI: Controllability of a Leader–Follower Dynamic Network With Switching Topology

Content Provider	IEEE Xplore Digital Library
Author	Bo Liu Tianguang Chu Long Wang Guangming Xie
Copyright Year	1963
Abstract	This note studies the controllability of a leader-follower network of dynamic agents linked via neighbor rules. The leader is a particular agent acting as an external input to steer the other member agents. Based on switched control system theory, we derive a simple controllability condition for the network with switching topology, which indicates that the controllability of the whole network does not need to rely on that of the network for every specific topology. This merit provides convenience and flexibility in design and application of multiagent networks. For the fixed topology case, we show that the network is uncontrollable whenever the leader has an unbiased action on every member, regardless of the connectivity of the members themselves. This gives new insight into the relation between the controllability and the connectivity of the leader-follower network. We also give a formula for formation control of the network.
Sponsorship	IEEE Control Systems Society
Starting Page	1009
Ending Page	1013
Page Count	5
File Size	224783
File Format	PDF
ISSN	00189286
Volume Number	53
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Controllability Network topology Control systems Automatic control Communication system control Vehicle dynamics Multiagent systems Intelligent control Laboratories Industrial engineering switching topology leader–follower networks local interactions multiagent systems
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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