Controllability of Multi-agent Systems with Switching Topology

摘要

The paper studies a class of formation control problem, i.e. the controllability for multi-agent systems. The contribution includes several necessary and/or sufficient conditions for the controllability under multiple leaders and switching topology. The results are not only necessary and/or sufficient, but also indicate to a certain degree how the controllability be impacted by the evolvement of the corresponding dynamic networks and the switched interconnection topologies.