数学新进展.docx

目 录1 引言 (Introduction)42 基本问题和特点 (Basic problem)43 能控性分析 (Controllability analysis)53.1智能体自身动力学特性(Effects of agents’ dynamics)53.2拓扑结构的作用和影响(Roles and effects of interconnection topology)63.2.1 拓扑图的划分 (Graph partitions)73.2.2特殊拓扑结构图(Special graphics)73.2.3 有向加权拓扑图 (Directed and weighted graph)83.2.4 切换和时滞拓扑图(Switching topologies and topology with time-delay)83.3 其他影响因素 (Other effects)93.3.1 领航者的角色 (Leaders’ role)93.3.2 邻居交互协议(Local interactions protocol)94 结构能控性 (Structural controllability)104.1 结构能控性模型 (Environment of equations)104.2 强结构能控性(Strong structural controllability)115 相关研究问题 (Some relative problems)115.1 能观测性问题(Observability)115.2 可镇定性 (Stabilizability)125.3 复杂网络能控性(Controllability of complete networks)126 结论与展望(Concluding remarks)13参考文献(References):13致谢20多智能体系统能控性研究进展刘华青北方工业大学理学院，北京100144摘要: 能控性问题是多智能体协调控制领域中一个基本又十分重要的研究课题. 本文对多智能体系统能控性问 题的研究现状进行综述. 介绍了多智能体能控性领域的基本问题和特点, 并从智能体自身动力学、通信拓扑结构 和邻居交互协议角度对该领域当前的研究热点和前沿进行分析阐述. 进一步, 对结构能控性的研究成果进行归纳 总结, 并对能观测性、可镇定性和复杂网络能控性等相关问题进行阐述. 最后给出了仍然需要解决的问题和可能 的研究方向.关键词: 多智能体系统; 能控性; 邻居信息交互; 领航者 - 跟随者结构Recent Developmenton Controllability of Multi-Agent SystemsLiu huaqingNCUT，BeiJing 100144，ChinaAbstract: Controllability is a fundamental research issue in the study of cooperative control of multi-agent systems. This paper presents an overview in the current study of multi-agent controllability. Some basic issues in the ?eld of controllability of multi-agent systems are introduced, and the research hotspots and frontiers are analyzed and summarized from the perspective of agents’ dynamics, interconnection topology and local interactions protocol.Furthermore, some of the lates tresearch achievements on structural controllability are presented ,and some related problems such as observability, stabilizability and controllability of complex networks are also introduced. Finally, the existing problems to be solved and the possible research direction are presented. Keywords: Multi-agent systems; controllability; local interaction