含有状态时滞的时离散多智能体系统可控性研究

In this paper, the controllability issue is addressed for a class of discrete-time multi-agent system with timedelay in state. The controllability of the system is analyzed under fixed topology and leader-follower structure, where one or more agents take the leader role and others are followers. Sufficient conditions are derived for the controllability of delayed multi-agent systems, under which the formation control of the system is feasible. Finally, numerical simulations are given to illustrate how to control the system to achieve the desired configurations.