广播信号下非一致多智能体系统的能控性

Controllability of non-identical multi-agent systems under a broadcasting control signal

能控性是多智能体系统研究的核心问题,而与实际工程的动态网络更为接近的非一致的多智能体系统的能控性问题更是重中之重,为此,采用图论和矩阵论的方法研究了在广播控制信号下,存在邻域信息交互的非一致的非定向多智能体系统的能控性问题,得出了使其能控的充分必要条件,并在非一致动态下研究了路径和完备图的能控性。非一致情形在广播信号下,路和完备图的能控性发生变化。所得结果表明,多智能体系统的拓扑结构和非一致动态决定了系统的能控性,非一致动态使得多智能体系统的能控性出现了新的特点,使问题更加复杂。指出了无向图下改善非一致多智能体系统能控性的方法。

Controllability is a key issue in the study of multi-agent systems , and the controllability of a multi-agent system with non-identical node dynamics which is closer to the actual engineering dynamic network is paramount .So as a result in this paper , the controllability of a multi-agent system is studied by using both the graph theory and the matrix theory, where agents interconnect via the neighbor-based rule and the undirected dynamical system consists of non-identical agents receiving a common exogenous control signal , which is called a broadcasting control signal . A necessary and sufficient condition is derived for a non-identical node dynamics system to be controllable .The controllability of the path and the complete graph is studied under the non-identical node dynamics .It is shown that the controllability of the path and the complete graph changes when the non-identical agents receive a broadcasting control signal .In particular , it is shown that the controllability of a multi-agent system is determined by the topology structure of the interconnection graph and the non-identical dynamics of the agents .Compared with the identical dy-namics , the controllability of multi-agent systems exhibits new features and becomes more complicated when the dy-namics of the agents is non-identical .Some methods for improving the controllability of a non-identical node dynam-ics system are also pointed out at the end of the paper .