Controllability of continuum ensemble of formation systems over directed graphs

DOI10.1016/J.AUTOMATICA.2019.108497MaRDI QIDQ6119723zbMATH OpenOpenAlexWikidataFDO

Authors Xudong Chen

Publication date 20 February 2024

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1805.11196

zbMATH Keywords

networked control systemsensemble control theorymulti-agent formation systemstochastic Lie algebra

Mathematics Subject Classification ID

Directed graphs (digraphs), tournaments (05C20) Controllability (93B05) Multi-agent systems (93A16) Networked control (93B70)

Abstract: We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of every individual networked system so that a continuum ensemble of such systems is controllable. To keep the analysis tractable, we focus in the paper on a special class of ensembles systems, namely ensembles of multi-agent formation systems. Specifically, we consider an ensemble of formation systems indexed by a parameter in a compact, real analytic manifold. Every individual formation system in the ensemble is composed of $N$ agents. These agents evolve in $mathbb{R}^n$ and can access relative positions of their neighbors. The information flow topology within every individual formation system is, by convention, described by a directed graph where the vertices correspond to the $N$ agents and the directed edges indicate the information flow. For simplicity, we assume in the paper that all the individual formation systems share the same information flow topology described by a common digraph $G$. Amongst other things, we establish a sufficient condition for approximate path-controllability of the continuum ensemble of formation systems. We show that if the digraph $G$ is strongly connected and the number $N$ of agents in each individual system is great than $(n+1)$, then every such system in the ensemble is simultaneously approximately path-controllable over a path-connected, open dense subset.

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