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| Controllability Analysis of InSCC Topology |
| XIAO Pengpeng1,2, JI Zhijian1,2, LIU Yungang3, LIN Chong1,2
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1. School of Automation Qingdao University, Qingdao 266071,China;
2. Shandong Key Labratory of Industrial Control Technology, Qingdao 266071,China;
3. School of Control Science and Engineering, Shandong University, Ji′nan 250061. China |
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Abstract 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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Received: 06 June 2022
Published: 28 December 2023
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