This chapter introduces an analysis of the controllability and observability properties of several interconnection configurations for multiagent systems such as the chain topology and cyclic topology, as well as the combinations of these two topologies. It presents the results on controllability and observability properties of multiagent systems. A leader/follower control strategy is proposed to control the center of mass of the multiple agent (multiagent) system. The chapter shows that the center of mass of every multiagent system with balanced information exchange graph corresponds to controllable and observable modes. It demonstrates trajectory‐tracking convergence for leader‐based multiagent systems. We therefore require observability and controllability (or at least detectability and stabilizability) of the agents' network from the leader input and output. Also, a high‐order consensus control scheme are presented. controllability; signal processing system
Multiagent Coordination Strategies
Flight Formation Control ; 27-50
2012-02-01
24 pages
Article/Chapter (Book)
Electronic Resource
English
Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids
Springer Verlag | 2022
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