ON FORMABILITY OF LINEAR CONTINUOUS-TIME MULTI-AGENT SYSTEMS

作     者：Cuiqin MA Jifeng ZHANG 

作者机构：School of Mathematical SciencesQufu Normal University Key Laboratory of Systems and ControlInstitute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2012年第25卷第1期

页      面：13-29页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by the National Nature Science Foundation of China under Grants Nos.60934006 and 61104136 the Shandong Provincial Natural Science Foundation under Grant No.ZR2010FQ002 the School Foundation of Qufu Normal University under Grant No.XJ200913 the Scientific Research Foundation of Qufu Normal University 

主　　题：Formability formability condition formation protocol linear time-invariant system multi-agent systems. 

摘      要：This paper is focused on formability of multi-agent systems （MASs）. The problem is concerned with the existence of a protocol that has the ability to drive the MAS involved to the desired formation, and thus, is of essential importance in designing formation protocols. Formability of an MAS depends on several key factors： agents＇ dynamic structures, connectivity topology, properties of the desired formation and the admissible control set. Agents of the MASs considered here are described by a general continuous linear time-invariant （LTI） model. By using the matrix analysis and algebraic graph theory, some necessary and sufficient conditions on formability of LTI-MASs are obtained. These conditions characterize in some sense the relationship of formability, connectivity topology, formation properties and agent dynamics with respect to some typical and widely used admissible protocol sets.