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Controllability Matrix Discrete Time Same as Continuous Time

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Abstract

This paper studies the controllability of two-time-scale continuous-time multi-agent systems with switching topology. The definition of controllability of continuous-time leader-follower multi-agent systems with two-time-scale feature connected by switching topology is proposed for the first time. To avoid the ill-posed problem caused by the singular perturbation parameter, firstly, the singular perturbation method based on iterative approximation is used to decompose the two-time-scale multi-agent systems into fast-time-scale and slow-time-scale subsystems. Then, according to the concepts of invariant subspace and controllable state set, a criterion of controllability is given. Finally, the simulation is used to illustrate the correctness of the theoretical results.

Keywords

  • Multi-agent systems
  • Controllability
  • Two-time-scale
  • Switching topology

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Author information

Authors and Affiliations

  1. College of Automation, Nanjing University of Posts and Telecommunications, Nanjing, 210023, China

    Mengqi Gu, Guo-ping Jiang, Juan Qian & Yayong Wu

  2. School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian, 223300, China

    Mengqi Gu

  3. Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot), Nanjing, 210023, China

    Mengqi Gu, Guo-ping Jiang, Juan Qian & Yayong Wu

Corresponding author

Correspondence to Guo-ping Jiang .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Prof. Zhang Ren

  2. Beijing Institute of Electronic System Engineering, Beijing, China

    Dr. Mengyi Wang

  3. Beihang University, Beijing, China

    Dr. Yongzhao Hua

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Gu, M., Jiang, Gp., Qian, J., Wu, Y. (2023). Controllability of Two-Time-Scale Continuous-Time Multi-agent Systems with Switching Topology. In: Ren, Z., Wang, M., Hua, Y. (eds) Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control. Lecture Notes in Electrical Engineering, vol 934. Springer, Singapore. https://doi.org/10.1007/978-981-19-3998-3_122

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  • DOI : https://doi.org/10.1007/978-981-19-3998-3_122

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-19-3997-6

  • Online ISBN: 978-981-19-3998-3

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