Controllability of formations over directed time-varying graphs

Xudong Chen; Mohamed Ali Belabbas; Tamer Basar

doi:10.1109/TCNS.2015.2504034

Controllability of formations over directed time-varying graphs

Xudong Chen, Mohamed Ali Belabbas, Tamer Basar

Research output: Contribution to journal › Article › peer-review

Abstract

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 language	English (US)
Article number	7337394
Pages (from-to)	407-416
Number of pages	10
Journal	IEEE Transactions on Control of Network Systems
Volume	4
Issue number	3
DOIs	https://doi.org/10.1109/TCNS.2015.2504034
State	Published - Sep 2017

Keywords

Bilinear systems
formations
geometric control
time-varying graphs

ASJC Scopus subject areas

Control and Systems Engineering
Signal Processing
Computer Networks and Communications
Control and Optimization

Online availability

10.1109/TCNS.2015.2504034

Library availability

Discover UIUC Full Text

Cite this

@article{1616a6e0597c45e38c9be848ba01f493,

title = "Controllability of formations over directed time-varying graphs",

abstract = "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.",

keywords = "Bilinear systems, formations, geometric control, time-varying graphs",

author = "Xudong Chen and Belabbas, {Mohamed Ali} and Tamer Basar",

note = "Funding Information: Manuscript received May 28, 2015; revised October 26, 2015; accepted November 10, 2015. Date of publication November 25, 2015; date of current version September 15, 2017. This work was supported in part by the U.S. Air Force Office of Scientific Research (AFOSR) MURI under Grant FA9550-10-1-0573, in part by the National Science Foundation ECCS 13-07791, in part by the National Science Foundation ECCS CAREER 13-51586, in part by (AFOSR) MURI under Grant FA9550-10-1-0573, and in part by the National Science Foundation under ECCS CAREER 13-51586. Recommended by Associate Editor W. Ren. Publisher Copyright: {\textcopyright} 2014 IEEE.",

year = "2017",

month = sep,

doi = "10.1109/TCNS.2015.2504034",

language = "English (US)",

volume = "4",

pages = "407--416",

journal = "IEEE Transactions on Control of Network Systems",

issn = "2325-5870",

publisher = "IEEE CONTROL SYSTEMS SOCIETY",

number = "3",

}

TY - JOUR

T1 - Controllability of formations over directed time-varying graphs

AU - Chen, Xudong

AU - Belabbas, Mohamed Ali

AU - Basar, Tamer

N1 - Funding Information: Manuscript received May 28, 2015; revised October 26, 2015; accepted November 10, 2015. Date of publication November 25, 2015; date of current version September 15, 2017. This work was supported in part by the U.S. Air Force Office of Scientific Research (AFOSR) MURI under Grant FA9550-10-1-0573, in part by the National Science Foundation ECCS 13-07791, in part by the National Science Foundation ECCS CAREER 13-51586, in part by (AFOSR) MURI under Grant FA9550-10-1-0573, and in part by the National Science Foundation under ECCS CAREER 13-51586. Recommended by Associate Editor W. Ren. Publisher Copyright: © 2014 IEEE.

PY - 2017/9

Y1 - 2017/9

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.

KW - Bilinear systems

KW - formations

KW - geometric control

KW - time-varying graphs

UR - http://www.scopus.com/inward/record.url?scp=85030095206&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85030095206&partnerID=8YFLogxK

U2 - 10.1109/TCNS.2015.2504034

DO - 10.1109/TCNS.2015.2504034

M3 - Article

AN - SCOPUS:85030095206

SN - 2325-5870

VL - 4

SP - 407

EP - 416

JO - IEEE Transactions on Control of Network Systems

JF - IEEE Transactions on Control of Network Systems

IS - 3

M1 - 7337394

ER -

Controllability of formations over directed time-varying graphs

Abstract

Keywords

ASJC Scopus subject areas

Online availability

Library availability

Related links

Fingerprint

Cite this