本文在一般协议的背景下研究了基于符号有向图的多智能体系统的结构能控性与镇定性。首先,我们给出消除系统中不可达节点的方法,接着给出了一类扩张的新定义“非零入度扩张”。通过增加节点和增加边,只要不产生零入度扩张,则系统仍结构能控的特点研究了系统的结构能控性。最后,给出系统可镇定的两个定理并通过仿真实例证明了结论。In this paper, the structural controllability and stabilizability of multi-agent systems which are based on the signed directed graphs is investigated in the context of general protocols. First, we present a method for eliminating nonaccessible nodes with-in the multi-agent systems. Then, a new definition of dilations “non-zero indegree dilation” is given. We studied the structural controllability of the system by the characteristic that the system can still be structurally controlled as long as zero indegree dilation is not generated by adding nodes and edges. Finally, two theorems for the stabilizability of multi-agent systems are given. A simulation is given to illustrate the theoretical results.
