Controllability of formations over directed graphs

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479978861
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other54th IEEE Conference on Decision and Control, CDC 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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