Observability and controllability verification in multi-agent systems through decentralized Laplacian spectrum estimation

FRANCESCHELLI, MAURO;GIUA, ALESSANDRO
2010-01-01

Abstract

In this paper we show how the decentralized estimation of the spectrum of a network can be used to infer its controllability and observability properties. The proposed approach is applied to networked multi-agent systems whose local interaction rule is based on Laplacian feedback. We provide a decentralized necessary and sufficient condition for observability and controllability based on the estimated eigenvalues. Furthermore we show an example of application of the proposed method and show that the estimated spectrum can also be envisioned as a tool for decentralized formation identification.
2010
Proc.49TH IEEE CONF. ON DECISION AND CONTROL (ATLANTA, GEORGIA, USA)
978-1-4244-7745-6
5775
5780
6
WOS:000295049106087
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5717400&queryText%3DObservability+and+Controllability+Verification+in+Multi-Agent+Systems+through+Decentralized+Laplacian+Spectrum+Estimation
49th IEEE Conference on Decision and Control
contributo
Esperti anonimi
0
nazionale
4 Contributo in Atti di Convegno (Proceeding)::4.1 Contributo in Atti di convegno
Franceschelli, Mauro; S., Martini; M., Egerstedt; A., Bicchi; Giua, Alessandro
273
5
4.1 Contributo in Atti di convegno
none
info:eu-repo/semantics/conferenceObject
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