TY - GEN
T1 - Controllability of formations over directed graphs
AU - Chen, Xudong
AU - Belabbas, M. A.
AU - Basar, Tamer
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/2/8
Y1 - 2015/2/8
N2 - In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We relate the strongly connected components of this graph to the reachable set of the formation control system. Moreover, we show that the formation control model is approximately path-controllable over a path-connected, open dense subset as long as the graph is weakly connected and satisfies some mild assumption on the numbers of vertices of the strongly connected components.
AB - In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We relate the strongly connected components of this graph to the reachable set of the formation control system. Moreover, we show that the formation control model is approximately path-controllable over a path-connected, open dense subset as long as the graph is weakly connected and satisfies some mild assumption on the numbers of vertices of the strongly connected components.
UR - http://www.scopus.com/inward/record.url?scp=84962016052&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2015.7402962
DO - 10.1109/CDC.2015.7402962
M3 - Conference contribution
AN - SCOPUS:84962016052
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4764
EP - 4769
BT - 54rd IEEE Conference on Decision and Control,CDC 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th IEEE Conference on Decision and Control, CDC 2015
Y2 - 15 December 2015 through 18 December 2015
ER -