切换伪路图下的多智能体能控性

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中图分类号：TB3 文献标识码：A

Abstract ：This paper introduces a new type of pseudo-path and incorporate switching signals in the study. We apply graph and matrix theories to explore the controllability of multi-agent systems. Firstly，we obtain the system matrix and its exponential function of the multi-agent system，we then derive the necessary and sufficient conditions to achieve controllability. Secondly，we discuss the impact of diferent ways of selecting a single leader on the controllability matrix. Finally，we determine the minimum switching period for the system to reach any specified position in the controllable state space under a given switching sequence.

Keywords：multi-agent system；switched system； pseudo-path； zero-edge node list； controllability

0 引言

作为系统的内在特性之一，能控性反映出外部输入信号对系统状态的完全控制能力，是现代控制理论的一个基本概念。（剩余10418字）