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| 1 | 多智能体系统能控性研究进展显示文摘能控性问题是多智能体协调控制领域中一个基本又十分重要的研究课题.本文对多智能体系统能控性问题的研究现状进行综述.介绍了多智能体能控性领域的基本问题和特点,并结合智能体自身动力学与邻居交互协议,从拓扑结构角度对该领域当前的研究热点和前沿进行分析阐述.进一步,对结构能控性的研究成果进行归纳总结,并对能观测性、可镇定性和复杂网络能控性等相关问题进行阐述.最后给出了仍需解决的问题和可能的研究方向. | 关永强 纪志坚 张霖 王龙 | 2015 | 控制理论与应用2015，32，4： | 21 |
| 2 | 多智能体协调控制的演化博弈方法显示文摘提出一种基于演化博弈理论的多智能体系统协调控制方法.在所建立的数学模型框架中智能体根据其自身的利益,通过局部交互,在博弈竞争中学习,自主调整其行为.根据系统整体性能的要求,通过选择合适的博弈类型、设计适宜的收益计算方法、更新进化规则等,实现对多智能体系统的控制.在演化过程中,无需指定某些特定个体的具体动力学行为,只需通过种群的自适应进化即可实现整体目标.以分工合作问题为例,详细解析所提出的控制方法,通过理论分析和仿真验证该方法可以实现多智能体系统的自适应协调控制. | 王龙 杜金铭 | 2016 | 系统科学与数学2016，36，3： | 17 |
| 3 | On controllability and stabilizability of probabilistic Boolean control networks显示文摘The controllability of probabilistic Boolean control networks(PBCNs)is first considered.Using the input-state incidence matrices of all models,we propose a reachability matrix to characterize the joint reachability.Then we prove that the joint reachability and the controllability of PBCNs are equivalent,which leads to a necessary and sufcient condition of the controllability.Then,the result of controllability is used to investigate the stability of probabilistic Boolean networks(PBNs)and the stabilization of PBCNs.A necessary and sufcient condition for the stability of PBNs is obtained first.By introducing the control-fixed point of Boolean control networks(BCNs),the stability condition has finally been developed into a necessary and sufcient condition of the stabilization of PBCNs.Both necessary and sufcient conditions for controllability and stabilizability are based on reachability matrix,which are easily computable.Hence the two necessary and sufcient conditions are straightforward verifiable.Numerical examples are provided from case to case to demonstrate the corresponding theoretical results. | ZHAO Yin CHENG DaiZhan | 2014 | Science China(Information Sciences)2014，57，1： | 17 |
| 4 | Formation control of multiple Euler-Lagrange systems via null-space-based behavioral control显示文摘This paper addresses the formation control problem of multiple Euler-Lagrange systems with model uncertainties in the environment containing obstacles. Utilizing the null-space-based(NSB) behavioral control architecture, the proposed problem can be decomposed into elementary missions(behaviors) with different priorities and implemented by each individual system. A class of novel coordination control algorithms is constructed and utilized to achieve accurate formation task while avoiding obstacles and guaranteeing the model uncertainty rejection objective. By using sliding mode control and Lyapunov theory, the formation performance in closed-loop multi-agent systems is proven achievable if the state-dependent gain of the obstacle avoidance mission is appropriately designed. Finally, simulation examples demonstrate the effectiveness of the algorithms. | Jie CHEN Minggang GAN Jie HUANG Lihua DOU Hao FANG | 2016 | Science China(Information Sciences)2016，59，1： | 12 |
| 5 | 多智能体系统的事件驱动控制显示文摘近年来事件驱动控制发展迅速,并引起了多智能体系统领域研究者的极大关注.本文对基于事件驱动控制的多智能体系统的研究现状进行综述.从智能体动力学角度,分别对这个领域的一些代表性成果和研究方法进行了归纳总结.进一步,论述了边事件驱动控制策略下的多智能体系统的研究成果.随后,利用一类新型事件驱动控制来探讨多智能体系统的一致性问题.最后,给出了尚未解决的问题和未来值得关注的研究方向. | 张志强 王龙 | 2018 | 控制理论与应用2018，35，8： | 11 |
| 6 | Structural controllability of multi-agent systems with absolute protocol under fixed and switching topologies显示文摘The paper investigates the structural controllability of leader-follower multi-agent systems under fixed and switching topologies. Three models of agents: double-integrator, high-order integrator and generallinear dynamics are analyzed. Necessary and sufficient graphical conditions are provided for structural controllability based on communication topology of the system. In particular, a linear neighbor-based control protocol is designed for generic linear agents under which structural controllability is proved to be uniquely determined by communication topology structure. The role that leaders play in the structural controllability of multi-agent system is characterized, and a method is developed to realize structural controllability under single leader. The results clearly indicate the role of leaders and the effect of communication topology on structural controllability. | Yongqiang GUAN Long WANG | 2017 | Science China(Information Sciences)2017，60，9： | 8 |
| 7 | An optimization-based shared control framework with applications in multi-robot systems显示文摘In recent years,researchers have been developing tools to allow human operators to work with multiple robots.To this end,results for autonomous systems can be helpful,e.g.controllability analysis[1],null-space approach[2],containment control[3].On the other hand,results from teleoperation systems show that the shared control method is helpful in producing safe and efficient humanrobot-interaction systems[4]. | Hao FANG Chengsi SHANG Jie CHEN | 2018 | Science China(Information Sciences)2018，61，1： | 7 |
| 8 | Controllability analysis of multi-agent systems with switching topology over finite fields显示文摘In this paper, we investigate the controllability problem of multi-agent systems with switching topology over finite fields. The multi-agent system is defined over finite fields, where agents process only values from a finite alphabet. Under leader-follower structure, one agent is selected as a leader for each subsystem. First, we prove that a multi-agent system with switching topology is controllable over a finite field if the graph of the subsystem is a spanning forest, and the size of the field is sufficiently large. Second,we show that, by appropriately selecting leaders, the multi-agent system with switching topology can be controllable over a finite field even if each of its subsystems is not controllable. Specifically, we show that the number of leaders for ensuring controllability of the switched multi-agent system is less than the minimum number of leaders for ensuring the controllability of all subsystems. Finally, it is proved that the multi-agent system is controllable over a finite field if the union of the graphs is a directed path graph or a star graph. | Zehuan LU Lin ZHANG Long WANG | 2019 | Science China(Information Sciences)2019，62，1： | 7 |
| 9 | 带Leader的不确定高阶多智能体系统的L_2-L_∞一致显示文摘针对一类存在外部干扰,模型误差以及时滞的带Leader的高阶多智能体系统,利用L2-L∞方法研究了其一致性问题.首先给出了系统存在外部干扰和模型误差时的数学模型.然后针对有时滞和无时滞两种情况,利用Lyapunov函数的方法,分析了满足L2-L∞性能指标下的一致问题,分别得到了相应闭环系统达到一致的条件.最后,仿真结果验证了所得结果的有效性. | 莫立坡 周艳杰 周洪波 | 2012 | 控制理论与应用2012，29，9： | 7 |
| 10 | Hybrid event-and time-triggered control for double-integrator heterogeneous networks显示文摘This paper investigates the state consensus for double-integrator networks under heterogeneous interaction topologies. For double-integrator networks, the setting of heterogeneous topologies means that position and velocity information flows are modeled by two different graphs. The corresponding protocol proposed in this paper is based on edge-event-triggered control. The events based on position information are irrelevant to velocity information and independent of the events based on velocity information. And for different edges, the corresponding events are activated independently of each other. Once an event occurs,the agents connected by the associated edge will sample their corresponding relative state information and update their corresponding controllers. Furthermore, under the presented event-triggering rules, the state consensus of double-integrator networks can be achieved by designing appropriate parameters. In addition,the proposed protocol with the event-triggering rules can effectively improve the system performance and avoid the occurrence of Zeno behaviors. Finally, a simulation example is worked out to verify the theoretical analysis. | Gaopeng DUAN Feng XIAO Long WANG | 2019 | Science China(Information Sciences)2019，62，2： | 5 |
| 11 | 时滞二阶离散多智能体系统的可控性显示文摘针对一类二阶离散多智能体系统,在多领导者和固定拓扑情形下,研究了单时滞和多时滞下的系统可控性,运用增广矩阵、可控矩阵、行列式等方法及定义得出了系统可控的充分条件.结果表明整个系统的可控性不仅与跟从者之间的耦合拓扑关系有关,而且与领导者和跟从者之间的信息传递关系有关.所得结果通过例子进行了验证. | 刘菲 纪志坚 | 2015 | 系统科学与数学2015，35，3： | 5 |
| 12 | On the structural controllability of distributed systems with local structure changes显示文摘This paper analyzes the structural controllability of distributed systems, which are composed of many subsystems and have complicated interconnections. Different from traditional methods in centralized systems where global information is required, the method proposed in this paper is based on local structural properties and simplified interconnections, by which the computational burden is highly decreased and the implementation is tractable. Moreover, a necessary condition for global structural controllability is obtained by combining local information. When the structure in any subsystems is changed, only corresponding local information needs to be re-evaluated instead of whole distributed systems, which makes the analysis easier.Finally, examples are given to illustrate the effectiveness of our proposed method. | Jianbin MU Shaoyuan LI Jing WU | 2018 | Science China(Information Sciences)2018，61，5： | 3 |
| 13 | 时序网络控制显示文摘近年来,网络科学的发展为探究复杂系统动力学提供了有效方法.复杂网络控制的研究,为我们通过外部输入控制系统状态的演化提供了新的思路.针对时序网络控制这一新的研究方向,文章首先介绍了其可控性方面相关研究现状.其次,文章梳理了在实现系统最优控制时所需考虑的控制能量及控制轨迹等相关研究结果.最后总结了该领域仍需解决的重要问题并展望了未来研究方向. | 李阿明 王龙 | 2019 | 系统科学与数学2019，39，2： | 3 |
| 14 | Sufficient conditions and limitations of equivalent partition in multiagent controllability显示文摘The emergence of the graphical characterization of multiagent controllability has raised several issues concerning how to directly establish controllability from topology structures. Arguably, one of the most serious challenges to this research field is the means through which equivalent partition, which plays an important role in graphical characterization, obtains sufficient controllability conditions;hence, how equivalent partition influences controllability has garnered considerable attention. This article specifically focuses on the sufficient conditions and limitations of equivalent partition in multiagent controllability. We provide two sufficient conditions:(i) the absence of the system matrix’s eigenvectors that make the equation formed by the eigenvalues and eigenvectors hold and(ii) the addition of leaders by reducing the same number of followers. The first condition particularly exhibits a relation between two apparently unrelated parts: Tao’s equation and controllability. We further propose a necessary and sufficient condition for controllability under n-node graphs(n 5) by taking advantage of iso-neighbor nodes, and analyze the resulting difficulties when n is greater than 5. Immediate corollaries of our results are obtained. Finally, we reveal the limitation of equivalent partition in controllability analysis. Several constructive examples demonstrate our results. | Junhao GUO Zhijian JI Yungang LIU | 2022 | Science China(Information Sciences)2022，65，3： | 2 |
| 15 | Non-fragility of multi-agent controllability显示文摘Controllability of multi-agent systems is determined by the interconnection topologies. In practice, losing agents can change the topologies of multi-agent systems, which may affect the controllability. In order to preserve controllability, this paper first introduces the concept of non-fragility of controllability. In virtue of the notion of cutsets, necessary and sufficient conditions are established from a graphic perspective, for almost surely strongly/weakly preserving controllability, respectively. Then, the problem of leader selection to preserve controllability is proposed. The tight bounds of the fewest leaders to achieve strongly preserving controllability are estimated in terms of the diameter of the interconnection topology, and the cardinality of the node set. Correspondingly, the tight bounds of the fewest leaders to achieve weakly preserving controllability are estimated in terms of the cutsets of the interconnection topology. Furthermore, two algorithms are established for selecting the fewest leaders to strongly/weakly preserve the controllability. In addition, the algorithm for leaders' locations to maximize non-fragility is also designed. Simulation examples are provided to illuminate the theoretical results and exhibits how the algorithms proceed. | Bin ZHAO Yongqiang GUAN Long WANG | 2018 | Science China(Information Sciences)2018，61，5： | 2 |
| 16 | 基于NE结果的多智能体系统模型及其能控性显示文摘为基于纳什均衡的结果得到多智能体系统的一类新模型,结合实际并运用图论的方法,构造了一类不同于一般模型和Tanner模型的新模型——等邻居模型,该模型首次将纳什均衡与图拓扑结构建立联系。分析了等邻居模型与其他模型在多智能体系统中所得到的能控性的不同点,并发现等邻居模型在特定条件下能够与其他模型产生相同的能控性。 | 国俊豪 纪志坚 | 2021 | 复杂系统与复杂性科学2021，18，4： | 1 |
| 17 | 双向通信无人机集群领航顶点选取方法显示文摘领航顶点选取是关系到领航-跟随模式无人机集群等多智能体系统可控性的重要问题。以具有几十架个体的无人机集群为研究对象,针对领航顶点选取问题,基于Laplace矩阵的特征向量,提出关键集概念。从理论上证明2关键集、3关键集以及独立关键集的图特征。在此基础上,给出求无向网络最小关键集的CSA算法,通过数值仿真实验获得了不同规模、不同通信半径条件下无人机集群最小领航集的数值特征。 | 戴丽 | 2021 | 智能系统学报2021，16，3： | 0 |
| 18 | 切换拓扑结构下的多智能体系统的可控性显示文摘针对主-从网络下多智能体系统的可控性问题,本文在领导者-跟随者框架下,利用图论和矩阵的方法,研究了多智能体系统在切换拓扑结构情况下的可控性。基于积分器模型的多智能体系统的切换拓扑结构,通过设计切换序列,实现了对多智能体系统在切换拓扑结构下的可控性,并对其可控性进行了新的尝试与研究;同时应用线性切换理论与数例分析,验证了积分器模型的多智能体系统在切换拓扑结构下可控性实现的充要条件,拓展了多智能体系统可控性的研究方法。该研究对系统的可控性发展具有一定的实际应用价值。 | 孙方刚 纪志坚 姜香菊 | 2017 | 青岛大学学报(工程技术版)2017，32，3： | 0 |
| 19 | On strong structural controllability and observability of linear time-varying systems: a constructive method显示文摘In this paper, we consider the controllability and observability of generalized linear time-varying(LTV) systems whose coefficients are not exactly known. All that is known about these systems is the placement of non-zero entries in their coefficient matrices(A, B). We provide the characterizations in order to judge whether the placements can guarantee the controllability/observability of such LTV systems, regardless of the exact value of each non-zero coefficient. We also present a direct and efficient algorithm with an associated time cost of O (n+m+ν) to verify the conditions of our characterizations, where n and m denote the number of columns of A and B, respectively, and ν is number of non-zero entries in(A, B). | Shaoyuan LI Jianbin MU Yishi WANG | 2019 | Science China(Information Sciences)2019，62，1： | 0 |
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