Controllability Subspaces of Multi-Aagent Linear Dynamical Systems

This work addresses the controllability subspaces of a class of multi-agent linear systems that are interconnected via communication channels. Multiagent systems have attracted much attention because they have great applicability in multiple areas. Recently has taken an interest to analyze the control properties as consensus controllability of multi-agent dynamical systems motivated by the fact that the architecture of communication network in engineering multi-agent systems is usually adjustable. In this paper, the concept of invariant subspaces and controllability subspaces is reviewed and generalized to multi-agent systems. Finally, the consensus controllability subspaces are analyzed in the case of multiagent linear systems having all agents the same dynamics described as xi = Aixi + Biui, i = 0, 1, . . . , k.