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


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multiagent Coordination Strategies


    Contributors:

    Published in:

    Publication date :

    2012-02-01


    Size :

    24 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids

    Mavrogiannis, Christoforos / DeCastro, Jonathan A. / Srinivasa, Siddhartha | Springer Verlag | 2022


    Implicit Multiagent Coordination at Uncontrolled Intersections via Topological Braids

    Mavrogiannis, Christoforos / DeCastro, Jonathan A. / Srinivasa, Siddhartha | TIBKAT | 2023



    Multiagent Control Approach with Multiple Traffic Signal Priority and Coordination

    Xu, Mingtao / Zhai, Xiaoqi / Sun, Zhongyu et al. | ASCE | 2023