Controllability of Formations Over Directed Time-Varying Graphs

Controllability of Formations Over Directed Time-Varying Graphs

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 relate the strongly connected components of this graph to the r...

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Bibliographic Details
Published in:IEEE transactions on control of network systems Vol. 4; no. 3; pp. 407 - 416
Main Authors: Xudong Chen, Belabbas, Mohamed-Ali, Basar, Tamer
Format: Journal Article
Language:English
Published: IEEE 01-09-2017
Subjects:
Aerospace electronics
Algebra
Bilinear systems
Controllability
formations
geometric control
Network topology
Skeleton
time-varying graphs
Time-varying systems
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Summary: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 relate the strongly connected components of this graph to the reachable set of the formation control system. Moreover, we show that the formation control model is approximately path-controllable over a path-connected, open dense subset as long as the graph is weakly connected and satisfies some mild assumption on the numbers of vertices of the strongly connected components.
ISSN:2325-5870
2325-5870
2372-2533
DOI:10.1109/TCNS.2015.2504034