This paper proposes a new second-order continuous-time multi-agent model and analyzes the controllability of second-order multi-agent system with multiple leaders based on the asymmetric topology.This paper considers ...This paper proposes a new second-order continuous-time multi-agent model and analyzes the controllability of second-order multi-agent system with multiple leaders based on the asymmetric topology.This paper considers the more general case:velocity coupling topology is different from location coupling topology.Some sufficient and necessary conditions are presented for the controllability of the system with multiple leaders.In addition,the paper studies the controllability of the system with velocity damping gain.Simulation results are given to illustrate the correctness of theoretical results.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.61473129,61304049,61104140,61473002the Beijing Natural Science Foundation Program under Grant No.4132021+4 种基金the Program for New Century Excellent Talents in University from Chinese Ministry of Education under Grant NCET-12-0215"The-Great-Wall-Scholar"Candidate Training-Plan of North China University of Technology(NX130)the Plan Training Project of Excellent Young Teacher of North China University of Technology(NX132)the Fundamental Research Funds for the Central Universities,(HUST:Grant No.2015TS025)the Fundamental Research Funds for the Central Universities(WUT:Grant No.2015VI015)
文摘This paper proposes a new second-order continuous-time multi-agent model and analyzes the controllability of second-order multi-agent system with multiple leaders based on the asymmetric topology.This paper considers the more general case:velocity coupling topology is different from location coupling topology.Some sufficient and necessary conditions are presented for the controllability of the system with multiple leaders.In addition,the paper studies the controllability of the system with velocity damping gain.Simulation results are given to illustrate the correctness of theoretical results.
