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| Controllability of Multi-agent Under Switching Pseudo-paths |
| CHEN Yingxin1, 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 paper introduces a new type of pseudo-path and incorporate switching signals in the study. We apply graph and matrix theories to explore the controllability of multi-agent systems. Firstly, we obtain the system matrix and its exponential function of the multi-agent system, we then derive the necessary and sufficient conditions to achieve controllability. Secondly, we discuss the impact of different ways of selecting a single leader on the controllability matrix. Finally, we determine the minimum switching period for the system to reach any specified position in the controllable state space under a given switching sequence.
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Received: 11 August 2023
Published: 03 June 2025
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