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In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
This paper considers the controllability problem for multi-agent systems. In particular, the structural controllability of multi-agent systems under switching topologies is investigated. The structural controllability of multi-agent systems…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to…
This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed…
In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The…
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that…
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…
This chapter provides a comprehensive overview of controlling collective behavior in complex systems comprising large ensembles of interacting dynamical agents. Building upon traditional control theory's foundation in individual systems, we…
Given an ensemble of autonomous agents and a task to achieve cooperatively, how much do the agents need to know about the state of the ensemble and about the task in order to achieve it? We introduce new methods to understand these aspects…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
In this paper, structural controllability of a leader-follower multi-agent system with multiple leaders is studied from a graph-theoretic point of view. The problem of preservation of structural controllability under simultaneous failures…
This paper investigates a pattern formation control problem for a multi-agent system modeled with given interaction topology, in which $m$ of the $n$ agents are chosen as leaders and consequently a control signal is added to each of the…
In this technical note, we study the controllability of diffusively coupled networks from a graph theoretic perspective. We consider leader-follower networks, where the external control inputs are injected to only some of the agents, namely…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
This paper presents conditions for establishing topological controllability in undirected networks of diffusively coupled agents. Specifically, controllability is considered based on the signs of the edges (negative, positive or zero). Our…
In this paper, the target controllability of multiagent systems under directed weighted topology is studied. A graph partition is constructed, in which part of the nodes are divided into different cells, which are selected as leaders. The…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
Natural, social, and artificial multi-agent systems usually operate in dynamic environments, where the ability to respond to changing circumstances is a crucial feature. An effective collective response requires suitable information…
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where…