Controllability of continuum ensemble of formation systems over directed graphs
Controllability of continuum ensemble of formation systems over directed graphs
复制标题
有向图上地层系统连续系综的可控性
DOI：
10.1016/j.automatica.2019.108497
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Xudong Chen
中科院分区：
文献类型：
--
作者：
Xudong Chen
本文提出了一种新的框架，使用一个共同的控制输入，同时引导一个无限集成的网络控制系统。我们解决的问题，共同设计的信息流拓扑结构和网络动态的每一个单独的网络系统，这样的系统的连续集成是可控的。为了使问题易于处理，我们集中在一类特殊的合奏系统，即合奏的多智能体形成系统的文件。具体来说，我们考虑一个合奏的形成系统索引的参数在一个紧凑的真实的，解析流形。集合中的每个编队系统由N个智能体组成。这些代理在Rn中进化，并且可以访问其邻居的相对位置。按照惯例，每个单独的编队系统内的信息流拓扑由有向图描述，其中顶点对应于N个代理，并且有向边指示信息流。为了简单起见，本文假设所有的编队系统共享由一个共同的有向图G所描述的相同的信息流拓扑。除其他事项外，我们建立了一个充分条件的形成系统的连续系综的近似路径可控性。我们证明了，如果有向图G是强连通的，并且每个单独的形成系统中的代理的数量N大于（n+ 1），则系综中的每个这样的系统同时在路径连通的开稠密子集上近似路径可控。
We propose in the paper a novel framework about 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 problem 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 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 formation system is greater than (n+ 1), then every such system in the ensemble is simultaneously approximately path-controllable over a path-connected, open dense subset.