This paper investigates the strong structural controllability(SSC)of multi-agent systems(MASs)defined over Laplacian dynamics on directed graphs.The agents that are divided into leaders and followers are connected bas...This paper investigates the strong structural controllability(SSC)of multi-agent systems(MASs)defined over Laplacian dynamics on directed graphs.The agents that are divided into leaders and followers are connected based on the consensus law and only leaders are manipulated by the external control input directly.In contrast to existing work,the topology of MAS contains uncertain interconnection edges between agents.The interconnection graph has a zero/nonzero/arbitrary structure,to handle the parameters uncertainty problem in MASs.Under this framework,the authors propose a color-changing rule based on the zero-forcing set(ZFS).A graph-theoretic sufficient condition of SSC is proved.Next,the authors investigate the leader selection problem to ensure the SSC of MASs.A greedy algorithm based on ZFS is introduced.In addition,the authors figure out that the redundant property of edges in MASs can help us decide the leader selection problem.A new heuristic algorithm of polynomial complexity is developed to select minimum leaders of the multi-agent system.Finally,the authors support the proposed analysis with numerical results on various simulations.展开更多
基金supported by the National Natural Science Foundation of China under Grant No.92367203。
文摘This paper investigates the strong structural controllability(SSC)of multi-agent systems(MASs)defined over Laplacian dynamics on directed graphs.The agents that are divided into leaders and followers are connected based on the consensus law and only leaders are manipulated by the external control input directly.In contrast to existing work,the topology of MAS contains uncertain interconnection edges between agents.The interconnection graph has a zero/nonzero/arbitrary structure,to handle the parameters uncertainty problem in MASs.Under this framework,the authors propose a color-changing rule based on the zero-forcing set(ZFS).A graph-theoretic sufficient condition of SSC is proved.Next,the authors investigate the leader selection problem to ensure the SSC of MASs.A greedy algorithm based on ZFS is introduced.In addition,the authors figure out that the redundant property of edges in MASs can help us decide the leader selection problem.A new heuristic algorithm of polynomial complexity is developed to select minimum leaders of the multi-agent system.Finally,the authors support the proposed analysis with numerical results on various simulations.
