Relative controllability of multi-agent systems with input delay and switching topologies (Q2677715)

This paper is mainly concerned with relative controllability of multi-agent systems with input delay and switching topologies. The system is transformed into relative controllability of multi-agent systems with input delay and switching topologies with the help of neighbor-based protocol adopted. To explore solution trajectory of the switched systems under a switching law, the switched systems are decomposed into a series of homogeneous and nonhomogeneous systems, and the iterative relationships for the solutions of homogeneous and nonhomogeneous systems are constructed, respectively. To establish the criterion on relative controllability of the switched systems, a new nested subspace is constructed through the iterative relationship for solutions of the nonhomogeneous systems. A concrete example is also presented to illustrate the main results.