{"id":"https://openalex.org/W2295177395","doi":"https://doi.org/10.1080/00207179.2015.1063165","title":"Controllability of discrete-time multi-agent systems with directed topology and input delay","display_name":"Controllability of discrete-time multi-agent systems with directed topology and input delay","publication_year":2015,"publication_date":"2015-06-22","ids":{"openalex":"https://openalex.org/W2295177395","doi":"https://doi.org/10.1080/00207179.2015.1063165","mag":"2295177395"},"language":"en","primary_location":{"id":"doi:10.1080/00207179.2015.1063165","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2015.1063165","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/A5058824321","display_name":"Zehuan Lu","orcid":"https://orcid.org/0000-0002-4717-7271"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehuan Lu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100418969","display_name":"Zhang Li","orcid":"https://orcid.org/0000-0003-1989-6102"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lin Zhang","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","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":false,"raw_author_name":"Zhijian Ji","raw_affiliation_strings":["College of Automation Engineering, Qingdao University, Qingdao 266071, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Qingdao University, Qingdao 266071, China","institution_ids":["https://openalex.org/I108688024"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Long Wang","raw_affiliation_strings":["Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100447536"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":5.961,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.96559304,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"89","issue":"1","first_page":"179","last_page":"192"},"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":0.9991999864578247,"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":0.993399977684021,"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":0.9237789511680603},{"id":"https://openalex.org/keywords/discrete-time-and-continuous-time","display_name":"Discrete time and continuous time","score":0.7563888430595398},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6477997303009033},{"id":"https://openalex.org/keywords/block-matrix","display_name":"Block matrix","score":0.5967131853103638},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5866900682449341},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5493483543395996},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5342031717300415},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.5125200748443604},{"id":"https://openalex.org/keywords/controllability-gramian","display_name":"Controllability Gramian","score":0.48051366209983826},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.44732236862182617},{"id":"https://openalex.org/keywords/network-controllability","display_name":"Network controllability","score":0.4385473132133484},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4175233244895935},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35193902254104614},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33984923362731934},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2692105770111084},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2659890353679657},{"id":"https://openalex.org/keywords/laplace-operator","display_name":"Laplace operator","score":0.20847272872924805},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.0889449417591095},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07810929417610168},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.057679682970047}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.9237789511680603},{"id":"https://openalex.org/C55689738","wikidata":"https://www.wikidata.org/wiki/Q15963867","display_name":"Discrete time and continuous time","level":2,"score":0.7563888430595398},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6477997303009033},{"id":"https://openalex.org/C85817219","wikidata":"https://www.wikidata.org/wiki/Q884772","display_name":"Block matrix","level":3,"score":0.5967131853103638},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5866900682449341},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5493483543395996},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5342031717300415},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.5125200748443604},{"id":"https://openalex.org/C143461762","wikidata":"https://www.wikidata.org/wiki/Q83587","display_name":"Controllability Gramian","level":3,"score":0.48051366209983826},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.44732236862182617},{"id":"https://openalex.org/C41982775","wikidata":"https://www.wikidata.org/wiki/Q7000977","display_name":"Network controllability","level":4,"score":0.4385473132133484},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4175233244895935},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35193902254104614},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33984923362731934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2692105770111084},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2659890353679657},{"id":"https://openalex.org/C165700671","wikidata":"https://www.wikidata.org/wiki/Q203484","display_name":"Laplace operator","level":2,"score":0.20847272872924805},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0889449417591095},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07810929417610168},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.057679682970047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C117045392","wikidata":"https://www.wikidata.org/wiki/Q4899215","display_name":"Betweenness centrality","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207179.2015.1063165","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207179.2015.1063165","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6850143148","display_name":null,"funder_award_id":"61375120","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7809217604","display_name":null,"funder_award_id":"61020106005","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7950927669","display_name":"\u591a\u667a\u80fd\u4f53\u7f51\u7edc\u7cfb\u7edf\u7684\u80fd\u63a7\u6027\u7814\u7a76","funder_award_id":"61374062","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8165908555","display_name":"\u52a8\u6001\u73af\u5883\u4e0b\u670d\u52a1\u7ec4\u5408\u7f51\u7edc\u667a\u80fd\u6f14\u5316\u7406\u8bba\u4e0e\u5e94\u7528\u7814\u7a76","funder_award_id":"61374199","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8985053482","display_name":null,"funder_award_id":"4142031","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1534096605","https://openalex.org/W1963649370","https://openalex.org/W1971437405","https://openalex.org/W1977594883","https://openalex.org/W1986918609","https://openalex.org/W1994368785","https://openalex.org/W1996280997","https://openalex.org/W1999823604","https://openalex.org/W2009563254","https://openalex.org/W2014706340","https://openalex.org/W2021812458","https://openalex.org/W2033800890","https://openalex.org/W2038739174","https://openalex.org/W2057996828","https://openalex.org/W2070221063","https://openalex.org/W2077076780","https://openalex.org/W2085324806","https://openalex.org/W2089947584","https://openalex.org/W2099586295","https://openalex.org/W2107396783","https://openalex.org/W2107723135","https://openalex.org/W2126826802","https://openalex.org/W2145291156","https://openalex.org/W2165744313","https://openalex.org/W2168109446","https://openalex.org/W2172143163"],"related_works":["https://openalex.org/W3011591466","https://openalex.org/W3113298909","https://openalex.org/W2912925551","https://openalex.org/W3101467015","https://openalex.org/W4206193827","https://openalex.org/W3121904599","https://openalex.org/W3000504751","https://openalex.org/W1994014931","https://openalex.org/W3011152480","https://openalex.org/W2570033587"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,23,52,76,97,121,133],"controllability":[4,53,77,98],"of":[5,29,54,78,87,90,92,99,120],"first-order":[6,55,101],"and":[7,15,36,46,62,102],"second-order":[8,79,103],"discrete-time":[9,56,80,104],"multi-agent":[10,57,81,105],"systems":[11,82,106],"with":[12,107],"directed":[13],"topology":[14],"input":[16,108],"delay.":[17],"The":[18],"problem":[19],"is":[20,69,83,110],"studied":[21],"in":[22],"leader\u2013follower":[24],"framework":[25],"where":[26],"a":[27,88],"number":[28],"agents":[30],"are":[31,49,129],"selected":[32],"to":[33,41,85,115,118,131],"be":[34,116],"leaders":[35],"serve":[37],"as":[38],"control":[39],"inputs":[40],"all":[42],"other":[43],"agents.":[44],"Sufficient":[45],"necessary":[47],"conditions":[48],"derived":[50],"for":[51],"systems.":[58,124],"With":[59],"sampling":[60],"period":[61],"feedback":[63],"gain":[64],"satisfying":[65],"certain":[66],"conditions,":[67],"it":[68],"proved":[70],"under":[71],"three":[72],"different":[73],"protocols":[74],"that":[75,86,119],"equivalent":[84,117],"pair":[89],"submatrices":[91],"Laplacian":[93],"matrix.":[94],"In":[95],"addition,":[96],"both":[100],"delay":[109],"shown,":[111],"through":[112],"some":[113,126],"transformations,":[114],"transformed":[122],"non-delayed":[123],"Finally,":[125],"simulation":[127],"examples":[128],"given":[130],"illustrate":[132],"theoretical":[134],"results.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-06T09:05:17.133730","created_date":"2025-10-10T00:00:00"}