Controllability of Second-Order Multiagent Systems with Multiple Leaders and General Dynamics

Abstract EN

This paper proposes a new second-order discrete-time multiagent model and addresses the controllability of second-order multiagent system with multiple leaders and general dynamics.

The leaders play an important role in governing the other member agents to achieve any desired configuration.

Some sufficient and necessary conditions are given for the controllability of the second-order multiagentsystem.

Moreover, the speed controllability of the second-order multiagent system with general dynamics is discussed.

Particularly, it is shown that the controllability of the whole system relies on the number of leaders and the connectivity between the leaders and the members.

Numerical examples illustrate the theoretical results.