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| Sampling Controllability Analysis of Multi-agent Systems Under Two Types of Topologies |
| GAO Bingjin1, JI Zhijian1,2
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1. School of Automation, Qingdao University, Qingdao 266071, China;
2. Shandong Key Laboratory of Industrial Control Technology, Qingdao 266071, China |
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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.
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Received: 19 December 2023
Published: 14 July 2026
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