为研究含有等容胞腔的多智能体系统的能控性问题,基于等容胞腔中的等势节点,区分了等势节点与自同构节点,发现等势节点是自同构节点的扩展。通过选取等势节点和非等势节点作为领导者,分析了系统的能控性,并提出了一种根据等容胞腔数量决定领导者数量的新方法。最后通过分析拉普拉斯矩阵,揭示了其秩与拓扑结构的之间的关系。研究结果表明,提出的领导者选择方式能有效提升系统的能控性。
This paper aims to investigate the controllability of multi-agent systems with cells of equal capacity. Firstly, based on the equipotential nodes within cells of equal capacity, a distinction is made between equipotential nodes and automorphic nodes, revealing that equipotential nodes extend automorphic nodes. Secondly, by selecting equipotential nodes and non-equipotential nodes as leaders, the controllability of the system is analyzed, and a novel leader selection method based on the number of cells of equal capacity is proposed. Finally, by analyzing the Laplacian matrix, the relationship between its rank and the topological structure is revealed. The research results demonstrate that the proposed leader selection method can effectively enhance the controllability of the system.
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