为研究一类多智能体系统的能控性,首次提出输入强连通分量(Input strongly connected component, InSCC)的概念,利用PBH判据、图理论等知识进行分析。分析了InSCC结构的能控性,以及InSCC和路图共同组成的拓扑结构的能控性,给出了领导者的选择方法以实现系统能控;以InSCC结构为基础,研究了在不同InSCC结构之间以及路图中增加通讯边对系统能控性的影响。研究发现:对于含有InSCC,以及InSCC和路图共同组成的拓扑,按一定方式增加通讯边并不改变系统的能控性,进而提出了一类能控拓扑的构造方法,给出了含有InSCC结构的多智能体系统在切换拓扑下能控的充要条件。
To study the controllability of a class of multi-agent systems, the concept of Input strongly connected component (InSCC) was first proposed, and analyzed using PBH criterion and graph theory. Firstly, the controllability of InSCC structure and the topology structure composed of InSCC and roadmap were analyzed, and a leader′s selection method was provided to achieve system controllability. Secondly, based on the InSCC structure, the influence of adding communication edges between different InSCC structures and in the road map on system controllability was studied. Research has found that for topologies containing InSCC, as well as those composed of InSCC and road maps, increasing communication edges in a certain way does not change the controllability of the system. A method for constructing controllable topologies was proposed. Finally, the necessary and sufficient conditions for the controllability of multi-agent systems containing InSCC structures under switching topology were given.
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