Liu Bo, An Qing, Gao Yanping, Su Housheng
School of Information Engineering, Minzu University of China, Beijing 100081, China.
Artificial Intelligence School, Wuchang University of Technology, Wuhan 430223, China.
ISA Trans. 2022 Sep;128(Pt A):115-122. doi: 10.1016/j.isatra.2021.10.007. Epub 2021 Oct 12.
This study addresses leader-follower controllability of signed multi-agent networks with fixed and switching interactions (topologies), respectively, where weighted edges between agents may be positive or negative. In other words, there exist cooperative interactions (corresponding to positive edges) and antagonistic interactions (corresponding to negative edges) between agents in the multi-agent networks depicted by signed graphs. The goal of this study is to find the criteria of controllability for signed multi-agent networks, that is, how exactly do cooperation and antagonism affect controllability? It is proven that the followers of multi-agent networks under structurally balanced conditions can be controlled to the desired states if the leaders are chosen from the same partitioned subset. In addition, a signed multi-agent network with simultaneously structurally balanced conditions can be switching controllable even though each subsystem is uncontrollable. The leaders' selection is also discussed.
本研究分别探讨了具有固定交互和切换交互（拓扑结构）的带符号多智能体网络的领导者-跟随者可控性，其中智能体之间的加权边可能为正或为负。换句话说，在由带符号图描述的多智能体网络中，智能体之间存在合作交互（对应正边）和对抗交互（对应负边）。本研究的目标是找到带符号多智能体网络的可控性准则，即合作和对抗究竟如何影响可控性？结果表明，如果领导者选自同一个划分子集，那么在结构平衡条件下多智能体网络的跟随者可以被控制到期望状态。此外，即使每个子系统不可控，具有同时结构平衡条件的带符号多智能体网络也可以是切换可控的。同时还讨论了领导者的选择问题。
