Breadcrumb

 
 

Structural Controllability of Multi-Agent Systems Subject to Partial Failure

Title:

Structural Controllability of Multi-Agent Systems Subject to Partial Failure

Jafari, Saeid (2010) Structural Controllability of Multi-Agent Systems Subject to Partial Failure. Masters thesis, Concordia University.

[img]
Preview
PDF - Accepted Version
1473Kb

Abstract

Formation control of multi-agent systems has emerged as a topic of major interest during the last decade, and has been studied from various perspectives using different approaches. This work considers the structural controllability of multi-agent systems with leader-follower architecture. To this end, graphical conditions are first obtained based on the information flow graph of the system. Then, the notions of p-link, q-agent, and joint-(p,q) controllability are introduced as quantitative measures for the controllability of the system subject to failure in communication links or/and agents. Necessary and sufficient conditions for the system to remain structurally controllable in the case of the failure of some of the communication links
or/and loss of some agents are derived in terms of the topology of the information flow graph. Moreover, a polynomial-time algorithm for determining the maximum number of failed communication links under which the system remains structurally controllable is presented. The proposed algorithm is analogously extended to the case of loss of agents, using the node-duplication technique. The above results are subsequently extended to the multiple-leader case, i.e., when more than one agent can act as the leader. Then, leader localization problem is investigated, where it is desired to achieve p-link or q-agent controllability in a multi-agent system. This problem is concerned with finding a minimal set of agents whose selection as leaders results in a p-link or q-agent controllable system. Polynomial-time algorithms to find such minimal sets for both undirected and directed information flow graphs are presented.

Divisions:Concordia University > Faculty of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Thesis (Masters)
Authors:Jafari, Saeid
Institution:Concordia University
Degree Name:M.A.Sc
Program:Electrical and Computer Engineering
Date:30 July 2010
ID Code:6950
Deposited By:Mr. SAEID JAFARI
Deposited On:12 Jan 2011 11:54
Last Modified:12 Jan 2011 11:54
All items in Spectrum are protected by copyright, with all rights reserved. The use of items is governed by Spectrum's terms of access.

Repository Staff Only: item control page

Document Downloads

More statistics for this item...

Concordia University - Footer