On the Observability of Leader-Based Multiagent Systems with Fixed Topology

This paper investigates the observability of first-order, second-order, and high-order leader-based multiagent systems (MASs) with fixed topology, respectively. Some new algebraic and graphical characterizations of the observability for the first-order MASs are established based on agreement protoco...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2019, Vol.2019 (2019), p.1-10
Main Authors: Wu, Licheng, Su, Housheng, Xu, Ningsheng, Liu, Bo, Bai, Jiahui
Format: Article
Language:English
Subjects:
Animal behavior
Artificial satellites
Communication
Computer simulation
Control engineering
Control systems
Control theory
Leadership
Multiagent systems
Sensors
System effectiveness
Topology
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Summary:This paper investigates the observability of first-order, second-order, and high-order leader-based multiagent systems (MASs) with fixed topology, respectively. Some new algebraic and graphical characterizations of the observability for the first-order MASs are established based on agreement protocols. Moreover, under the same leader-following framework with the predefined topology and leader assignment, the observability conditions for systems of double-integrator and high-integrator agents are also obtained. Finally, the effectiveness of the theoretical results is verified by numerical examples and simulations.
ISSN:1076-2787
1099-0526
DOI:10.1155/2019/9487574