Controllability and Observability of Leader-Based Multi-agent Systems

Rogelio Lozano (1) , Mark W. Spong (2) , Jose Alfredo Guerrero (1) , Nikhil Chopra (2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 UIUC - University of Illinois at Urbana-Champaign [Urbana]

Abstract—In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multi-agent system converges to the constant input reference given only to the leader. Also, it is shown that choosing an appropriated gain, the agents achieve consensus for constant input reference.

Mots clés: Multi-agent coordination; Trajectory tracking; Formation Control; Controllability; Observability

Domaines: Automatique

Rogelio Lozano, Mark W. Spong, Jose Alfredo Guerrero, Nikhil Chopra. Controllability and Observability of Leader-Based Multi-agent Systems. Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008, 2008, Cancun, Mexico. ⟨hal-00448757⟩