A new perspective on cooperative control of multi-agent systems through different types of graph Laplacians
A new perspective on cooperative control of multi-agent systems through different types of graph Laplacians
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DOI：
10.1080/01691864.2022.2093616
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发表时间：
2022-07-08
影响因子：
2
通讯作者：
Nagahara，Masaaki
中科院分区：
文献类型：
--
作者：
Cai，Kai;Nagahara，Masaaki
在系统与控制领域，近二十年来人们对多智能体系统的许多协作控制问题进行了积极的研究。本文旨在基于所涉及的三种不同类型的图拉普拉斯矩阵，将有关不同协作控制问题的广泛现有工作分为三类。拉普拉斯矩阵是图拓扑的重要表示形式，根据其条目的领域，可分为三种类型：普通拉普拉斯矩阵（非负对角线条目和非正非对角线条目）、符号拉普拉斯矩阵（任意实数条目）和复拉普拉斯矩阵（任意复数条目）。每种类型的图拉普拉斯都可用于建模和解决一组不同的协作控制问题。特别是，它们的代数性质对于表征各自求解算法的稳定性和性能至关重要。据我们所知，通过不同图拉普拉斯的视角来组织多智能体协作控制的文献是新的。
In the field of systems and control, many cooperative control problems of multi-agent systems have been actively studied in the past two decades. This article aims to organize extensive existing work on different cooperative control problems into three categories, based on three different types of graph Laplacian matrices involved. A Laplacian matrix is an important representation of graph topology, and depending on the field of its entries, there are three types: ordinary Laplacian (non-negative diagonal entries and non-positive off-diagonal entries), signed Laplacian (arbitrary real entries), and complex Laplacian (arbitrary complex entries). Each type of graph Laplacian is useful in modeling and solving a different set of cooperative control problems. In particular, their algebraic properties are fundamental in characterizing stability and performance of the respective solution algorithms. To our best knowledge, organizing the literature on multi-agent cooperative control through the lens of different graph Laplacians is new.