{"id":"https://openalex.org/W1999823604","doi":"https://doi.org/10.1080/00207170903171330","title":"Controllability of multi-agent systems with time-delay in state and switching topology","display_name":"Controllability of multi-agent systems with time-delay in state and switching topology","publication_year":2009,"publication_date":"2009-11-08","ids":{"openalex":"https://openalex.org/W1999823604","doi":"https://doi.org/10.1080/00207170903171330","mag":"1999823604"},"language":"en","primary_location":{"id":"doi:10.1080/00207170903171330","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170903171330","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063831056","display_name":"Zhijian Ji","orcid":"https://orcid.org/0000-0002-9666-2572"},"institutions":[{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhijian Ji","raw_affiliation_strings":["School of Automation Engineering , Qingdao University , Qingdao 266071,  China","School of Automation Engineering, Qingdao University, Qingdao 266071, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Engineering , Qingdao University , Qingdao 266071,  China","institution_ids":["https://openalex.org/I108688024"]},{"raw_affiliation_string":"School of Automation Engineering, Qingdao University, Qingdao 266071, China","institution_ids":["https://openalex.org/I108688024"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100699858","display_name":"Zidong Wang","orcid":"https://orcid.org/0000-0002-9576-7401"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]},{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zidong Wang","raw_affiliation_strings":["Department of Information Systems and Computing , Brunel University , Uxbridge, Middlesex, UB8 3PH,  UK","School of Automation Engineering , Qingdao University , Qingdao 266071,  China","Department of Information Systems and Computing; Brunel University; Uxbridge; Middlesex UB8 3PH; UK"],"affiliations":[{"raw_affiliation_string":"Department of Information Systems and Computing , Brunel University , Uxbridge, Middlesex, UB8 3PH,  UK","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"School of Automation Engineering , Qingdao University , Qingdao 266071,  China","institution_ids":["https://openalex.org/I108688024"]},{"raw_affiliation_string":"Department of Information Systems and Computing; Brunel University; Uxbridge; Middlesex UB8 3PH; UK","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045445273","display_name":"Hai Lin","orcid":"https://orcid.org/0000-0002-5242-2366"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hai Lin","raw_affiliation_strings":["Department of Electrical and Computer Engineering , National University of Singapore , 117576 Singapore,  Singapore","Department of Electrical and Computer Engineering , National University of Singapore , 117576 Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering , National University of Singapore , 117576 Singapore,  Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering , National University of Singapore , 117576 Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100422268","display_name":"Zhen Wang","orcid":"https://orcid.org/0000-0001-7188-5828"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]},{"id":"https://openalex.org/I108688024","display_name":"Qingdao University","ror":"https://ror.org/021cj6z65","country_code":"CN","type":"education","lineage":["https://openalex.org/I108688024"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Zhen Wang","raw_affiliation_strings":["Department of Information Systems and Computing , Brunel University , Uxbridge, Middlesex, UB8 3PH,  UK","School of Automation Engineering , Qingdao University , Qingdao 266071,  China","School of Automation Engineering, Qingdao University, Qingdao 266071, China"],"affiliations":[{"raw_affiliation_string":"Department of Information Systems and Computing , Brunel University , Uxbridge, Middlesex, UB8 3PH,  UK","institution_ids":["https://openalex.org/I59433898"]},{"raw_affiliation_string":"School of Automation Engineering , Qingdao University , Qingdao 266071,  China","institution_ids":["https://openalex.org/I108688024"]},{"raw_affiliation_string":"School of Automation Engineering, Qingdao University, Qingdao 266071, China","institution_ids":["https://openalex.org/I108688024"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063831056"],"corresponding_institution_ids":["https://openalex.org/I108688024"],"apc_list":null,"apc_paid":null,"fwci":6.9126,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.97045314,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"83","issue":"2","first_page":"371","last_page":"386"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.9525268077850342},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.7006492614746094},{"id":"https://openalex.org/keywords/network-controllability","display_name":"Network controllability","score":0.6994823813438416},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6013094186782837},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5459134578704834},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5382229089736938},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5319975018501282},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4898395240306854},{"id":"https://openalex.org/keywords/algebraic-number","display_name":"Algebraic number","score":0.47468945384025574},{"id":"https://openalex.org/keywords/double-integrator","display_name":"Double integrator","score":0.4628881812095642},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44486573338508606},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32891371846199036},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3036586046218872},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.11731010675430298},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.08222195506095886},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.0700376033782959}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.9525268077850342},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.7006492614746094},{"id":"https://openalex.org/C41982775","wikidata":"https://www.wikidata.org/wiki/Q7000977","display_name":"Network controllability","level":4,"score":0.6994823813438416},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6013094186782837},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5459134578704834},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5382229089736938},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5319975018501282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4898395240306854},{"id":"https://openalex.org/C9376300","wikidata":"https://www.wikidata.org/wiki/Q168817","display_name":"Algebraic number","level":2,"score":0.47468945384025574},{"id":"https://openalex.org/C2779323837","wikidata":"https://www.wikidata.org/wiki/Q5300045","display_name":"Double integrator","level":3,"score":0.4628881812095642},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44486573338508606},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32891371846199036},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3036586046218872},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.11731010675430298},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.08222195506095886},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0700376033782959},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C53811970","wikidata":"https://www.wikidata.org/wiki/Q5062194","display_name":"Centrality","level":2,"score":0.0},{"id":"https://openalex.org/C117045392","wikidata":"https://www.wikidata.org/wiki/Q4899215","display_name":"Betweenness centrality","level":3,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1080/00207170903171330","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170903171330","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/55418","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/55418","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Article"},{"id":"pmh:oai:bura.brunel.ac.uk:2438/4057","is_oa":false,"landing_page_url":"http://bura.brunel.ac.uk/handle/2438/4057","pdf_url":null,"source":{"id":"https://openalex.org/S4306401473","display_name":"Brunel University Research Archive (BURA) (Brunel University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59433898","host_organization_name":"Brunel University of London","host_organization_lineage":["https://openalex.org/I59433898"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Research Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W247697463","https://openalex.org/W1535210759","https://openalex.org/W1963649370","https://openalex.org/W1965552113","https://openalex.org/W1992850999","https://openalex.org/W2000243709","https://openalex.org/W2014172170","https://openalex.org/W2014526962","https://openalex.org/W2043635613","https://openalex.org/W2063421110","https://openalex.org/W2081603597","https://openalex.org/W2090153174","https://openalex.org/W2090226465","https://openalex.org/W2099175737","https://openalex.org/W2099846541","https://openalex.org/W2102431007","https://openalex.org/W2102802181","https://openalex.org/W2103453719","https://openalex.org/W2106658884","https://openalex.org/W2107396783","https://openalex.org/W2108170563","https://openalex.org/W2118849693","https://openalex.org/W2126826802","https://openalex.org/W2143322577","https://openalex.org/W2145291156","https://openalex.org/W2147030676","https://openalex.org/W2147076495","https://openalex.org/W2150135842","https://openalex.org/W2155968257","https://openalex.org/W2162640372","https://openalex.org/W2164079651","https://openalex.org/W2165744313","https://openalex.org/W2167260329","https://openalex.org/W2168132433","https://openalex.org/W2364053636","https://openalex.org/W2482061462","https://openalex.org/W2487739765","https://openalex.org/W4238591275","https://openalex.org/W4293087381"],"related_works":["https://openalex.org/W2895969319","https://openalex.org/W2594902070","https://openalex.org/W2288444165","https://openalex.org/W2229005201","https://openalex.org/W2910288441","https://openalex.org/W2886366616","https://openalex.org/W2508095019","https://openalex.org/W2765453580","https://openalex.org/W1976531026","https://openalex.org/W2103453719"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,19,23,38,46,85,100,105],"controllability":[4,47,86],"issue":[5],"is":[6,21,63],"addressed":[7],"for":[8,45,84],"an":[9],"interconnected":[10,36],"system":[11,20,101],"of":[12,22,48,87],"multiple":[13],"agents.":[14],"The":[15],"network":[16],"associated":[17],"with":[18,26,51],"leader\u2013follower":[24],"structure":[25,62],"some":[27],"agents":[28],"taking":[29],"leader":[30],"role":[31],"and":[32,67,79],"others":[33],"being":[34],"followers":[35],"via":[37],"neighbour-based":[39],"rule.":[40],"Sufficient":[41],"conditions":[42,81],"are":[43,71,82,92],"derived":[44,83],"multi-agent":[49,88],"systems":[50],"time-delay":[52],"in":[53],"state,":[54],"as":[55,57],"well":[56],"a":[58],"graph-based":[59],"uncontrollability":[60],"topology":[61],"revealed.":[64],"Both":[65],"single":[66],"double":[68],"integrator":[69],"dynamics":[70],"considered.":[72],"For":[73],"switching":[74],"topology,":[75],"two":[76],"algebraic":[77],"necessary":[78],"sufficient":[80],"systems.":[89],"Several":[90],"examples":[91],"also":[93],"presented":[94],"to":[95,98,102],"illustrate":[96],"how":[97],"control":[99],"shape":[103],"into":[104],"desired":[106],"configurations.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":5}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
