两类拓扑下多智能体系统的采样能控性分析

doi:10.13306/j.1672-3813.2026.03.011

复杂系统与复杂性科学

2026, Vol. 23

Issue (3): 89-96 DOI: 10.13306/j.1672-3813.2026.03.011

多智能体系统

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两类拓扑下多智能体系统的采样能控性分析

高炳金¹, 纪志坚^1,2

1.青岛大学自动化学院, 山东青岛 266071;
2.山东省工业控制重点实验室,山东青岛 266071

Sampling Controllability Analysis of Multi-agent Systems Under Two Types of Topologies

GAO Bingjin¹, JI Zhijian^1,2

1. School of Automation, Qingdao University, Qingdao 266071, China;
2. Shandong Key Laboratory of Industrial Control Technology, Qingdao 266071, China

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摘要针对具有周期采样信号的多智能体系统在有向星型拓扑和切换拓扑下的能控性进行研究。首先,利用卡尔曼秩判据和图论给出了该多智能体系统在具有不同权重的有向星型拓扑下能控的判定条件,表明系统能控所需领导者数目随着权重的不同而不同;其次,提出了两种星型拓扑保持能控的连接方法,并证明了当拓扑中存在不可达节点时,系统采样不能控;最后,通过PBH判据给出了该多智能体系统在切换拓扑下的采样能控判定条件。结果发现多智能体系统在切换拓扑下的采样能控性与联合图拓扑结构有关。

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关键词 ：多智能体系统, 采样数据, 能控性, 星型拓扑, 切换拓扑

Abstract：This article focuses on the controllability of multi-agent systems with periodic sampling signals under directed star topology and switching topology. Firstly, using the Kalman rank criterion and graph theory, the decision conditions for the controllability of the multi-agent system in a directed star topology with different weights are given, indicating that the number of leaders required for the system to be controllable varies with different weights; Secondly, two controllable connection methods for star topology are proposed, and it is proved that the sampling of the system cannot be controlled when there are unreachable nodes in the topology; Finally, the PBH criterion is used to determine the sampling controllability of the multi-agent system under switching topology. It is found that the sampling controllability of multi-agent systems under switching topology is related to the joint graph topology structure.

Key words： multi-agent system sampled data controllability star topology switching topology

收稿日期: 2023-12-19 出版日期: 2026-07-14

ZTFLH:	TB3
	IP13

基金资助:国家自然科学基金(62373205,62033007);山东省泰山学者特聘教授人才支持计划(tstp20230624,ts20190930);山东省泰山学者攀登计划

通讯作者: 纪志坚(1973-),男,山东青岛人,博士,教授,主要研究方向为群体智能和协同控制。

作者简介: 高炳金(1999-),男,山东临沂人,硕士研究生,主要研究方向为多智能体网络系统。

引用本文:

高炳金, 纪志坚. 两类拓扑下多智能体系统的采样能控性分析[J]. 复杂系统与复杂性科学, 2026, 23(3): 89-96.
GAO Bingjin, JI Zhijian. Sampling Controllability Analysis of Multi-agent Systems Under Two Types of Topologies[J]. Complex Systems and Complexity Science, 2026, 23(3): 89-96.

链接本文:

https://fzkx.qdu.edu.cn/CN/10.13306/j.1672-3813.2026.03.011 或 https://fzkx.qdu.edu.cn/CN/Y2026/V23/I3/89

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