Controllability of discrete-time multi-agent systems with directed topology and input delay

Abstract

This paper investigates the controllability of first-order and second-order discrete-time multi-agent systems with directed topology and input delay. The problem is studied in the leader–follower framework where a number of agents are selected to be leaders and serve as control inputs to all other agents. Sufficient and necessary conditions are derived for the controllability of first-order discrete-time multi-agent systems. With sampling period and feedback gain satisfying certain conditions, it is proved under three different protocols that the controllability of second-order discrete-time multi-agent systems is equivalent to that of a pair of submatrices of Laplacian matrix. In addition, the controllability of both first-order and second-order discrete-time multi-agent systems with input delay is shown, through some transformations, to be equivalent to that of the transformed non-delayed systems. Finally, some simulation examples are given to illustrate the theoretical results.

Keywords:

• discrete-time multi-agent systems
• directed topology
• controllability
• protocol
• input delay

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was partially supported by National Science Foundation of China [grant number 61020106005], [grant number 61375120], [grant number 61374199], [grant number 61374062]; Beijing Natural Science Foundation [grant number 4142031] and Science Foundation of Shandong Province for Distinguished Young Scholars [grant number JQ201419].