{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,3]],"date-time":"2026-03-03T16:29:37Z","timestamp":1772555377289,"version":"3.50.1"},"reference-count":35,"publisher":"Springer Science and Business Media LLC","issue":"11","license":[{"start":{"date-parts":[[2009,11,1]],"date-time":"2009-11-01T00:00:00Z","timestamp":1257033600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. China Ser. F-Inf. Sci."],"published-print":{"date-parts":[[2009,11]]},"DOI":"10.1007\/s11432-009-0185-7","type":"journal-article","created":{"date-parts":[[2009,11,16]],"date-time":"2009-11-16T00:01:50Z","timestamp":1258329710000},"page":"2074-2088","source":"Crossref","is-referenced-by-count":72,"title":["Controllability of multi-agent systems based on agreement protocols"],"prefix":"10.1007","volume":"52","author":[{"given":"Long","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"FangCui","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"GuangMing","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"ZhiJian","family":"Ji","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2009,11,17]]},"reference":[{"issue":"4","key":"185_CR1","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1145\/37402.37406","volume":"21","author":"C. W. Reynolds","year":"1987","unstructured":"Reynolds C W. Flocks, herds, and schools: a distributed behavioral model. Comput Graph, 1987, 21(4): 25\u201334","journal-title":"Comput Graph"},{"issue":"4","key":"185_CR2","doi-asserted-by":"crossref","first-page":"692","DOI":"10.1109\/TAC.2003.809765","volume":"48","author":"V. Gazi","year":"2003","unstructured":"Gazi V, Passino K M. Stability analysis of swarms. IEEE Trans Automat Contr, 2003, 48(4): 692\u2013697","journal-title":"IEEE Trans Automat Contr"},{"key":"185_CR3","unstructured":"Xiao L, Boyd S, Lall S. A scheme for asynchronous distributed sensor fusion based on average consensus. In: Proc Int Conf Information Processing in Sensor Networks, Los Angeles, CA, 2005. 63\u201370"},{"issue":"1","key":"185_CR4","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1016\/j.physd.2005.10.012","volume":"213","author":"H. Shi","year":"2006","unstructured":"Shi H, Wang L, Chu T G. Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions. Physica D, 2006, 213(1): 51\u201365","journal-title":"Physica D"},{"key":"185_CR5","unstructured":"Tanner H G, Jadbabaie A, Pappas G J. Stable flocking of mobile agents, part I: fixed topology. In: Proc IEEE Conf Decision and Control, Maui, Hawaii USA, 2003. 2010\u20132015"},{"issue":"8","key":"185_CR6","doi-asserted-by":"crossref","first-page":"1469","DOI":"10.1109\/TAC.2007.902752","volume":"52","author":"D. Lee","year":"2007","unstructured":"Lee D, Spong M W. Stable flocking of multiple inertial agents on balanced graphs. IEEE Trans Automat Contr, 2007, 52(8): 1469\u20131475","journal-title":"IEEE Trans Automat Contr"},{"issue":"3","key":"185_CR7","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1109\/TRA.2004.825275","volume":"20","author":"H. G. Tanner","year":"2004","unstructured":"Tanner H G, Pappas G J, Kumar V. Leader-to-formation stability. IEEE Trans Robot Autom, 2004, 20(3): 433\u2013455","journal-title":"IEEE Trans Robot Autom"},{"issue":"9","key":"185_CR8","doi-asserted-by":"crossref","first-page":"1465","DOI":"10.1109\/TAC.2004.834433","volume":"49","author":"J. A. Fax","year":"2004","unstructured":"Fax J A, Murray R M. Information flow and cooperative control of vehicle formations. IEEE Trans Automat Contr, 2004, 49(9): 1465\u20131476","journal-title":"IEEE Trans Automat Contr"},{"issue":"9","key":"185_CR9","doi-asserted-by":"crossref","first-page":"899","DOI":"10.1016\/j.sysconle.2005.02.004","volume":"54","author":"G. Lafferriere","year":"2005","unstructured":"Lafferriere G, Wolliams A, Caughman J, et al. Decentralized control of vehicle formations. Syst Contr Lett, 2005, 54(9): 899\u2013910","journal-title":"Syst Contr Lett"},{"issue":"6","key":"185_CR10","doi-asserted-by":"crossref","first-page":"947","DOI":"10.1109\/70.976029","volume":"17","author":"M. Egerstedt","year":"2001","unstructured":"Egerstedt M, Hu X. Formation constrained multi-agent control. IEEE Trans Robot Autom, 2001, 17(6): 947\u2013951","journal-title":"IEEE Trans Robot Autom"},{"issue":"8","key":"185_CR11","doi-asserted-by":"crossref","first-page":"1289","DOI":"10.1109\/TAC.2006.878713","volume":"51","author":"J. Cort\u00e9s","year":"2006","unstructured":"Cort\u00e9s J, Mart\u00ednez S, Bullo F. Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions. IEEE Trans Automat Contr, 2006, 51(8): 1289\u20131298","journal-title":"IEEE Trans Automat Contr"},{"key":"185_CR12","doi-asserted-by":"crossref","unstructured":"Lin J, Morse A S, Anderson B D O. The multi-agent rendezvous problem-the asynchronous case. In: Proc IEEE Conf Decision and Control, Atlantis, Paradise Island, Bahamas, 2004. 1926\u20131930","DOI":"10.1109\/CDC.2004.1430329"},{"issue":"9","key":"185_CR13","doi-asserted-by":"crossref","first-page":"1520","DOI":"10.1109\/TAC.2004.834113","volume":"49","author":"R. Olfti-Saber","year":"2004","unstructured":"Olfti-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays. IEEE Trans Automat Contr, 2004, 49(9): 1520\u20131533","journal-title":"IEEE Trans Automat Contr"},{"issue":"5","key":"185_CR14","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1109\/TAC.2005.846556","volume":"50","author":"W. Ren","year":"2005","unstructured":"Ren W, Beard R W. Consensus seeking in multiagent systems under dynamically changing interaction topologies. IEEE Trans Automat Contr, 2005, 50(5): 655\u2013661","journal-title":"IEEE Trans Automat Contr"},{"issue":"2","key":"185_CR15","doi-asserted-by":"crossref","first-page":"169","DOI":"10.1109\/TAC.2004.841888","volume":"50","author":"L. Moreau","year":"2005","unstructured":"Moreau L. Stability of multiagent systems with timedependent communication links. IEEE Trans Automat Contr, 2005, 50(2): 169\u2013182","journal-title":"IEEE Trans Automat Contr"},{"issue":"6","key":"185_CR16","doi-asserted-by":"crossref","first-page":"988","DOI":"10.1109\/TAC.2003.812781","volume":"48","author":"A. Jadbabaie","year":"2003","unstructured":"Jadbabaie A, Lin J, Morse A S. Coordination of groups of mobile autonomous agents using nearest neighbor rules. IEEE Trans Automat Contr, 2003, 48(6): 988\u20131001","journal-title":"IEEE Trans Automat Contr"},{"key":"185_CR17","doi-asserted-by":"crossref","first-page":"921","DOI":"10.1002\/rnc.1143","volume":"17","author":"K. L. Moore","year":"2007","unstructured":"Moore K L, Lucarelli D. Decentralized adaptive scheduling using consensus variables. Int J Robust Nonlin, 2007, 17: 921\u2013940","journal-title":"Int J Robust Nonlin"},{"issue":"10\u201311","key":"185_CR18","doi-asserted-by":"crossref","first-page":"941","DOI":"10.1002\/rnc.1144","volume":"17","author":"G. M. Xie","year":"2007","unstructured":"Xie G M, Wang L. Consensus control for a class of networks of dynamic agents. Int J Robust Nonlin, 2007, 17(10\u201311): 941\u2013959","journal-title":"Int J Robust Nonlin"},{"issue":"10\u201311","key":"185_CR19","doi-asserted-by":"crossref","first-page":"1002","DOI":"10.1002\/rnc.1147","volume":"17","author":"W. Ren","year":"2007","unstructured":"Ren W, Atkins E M. Distributed multi-vehicle coordinated control via local information exchange. Int J Robust Nonlin, 2007, 17(10\u201311): 1002\u20131033","journal-title":"Int J Robust Nonlin"},{"key":"185_CR20","doi-asserted-by":"crossref","unstructured":"Ren W. On consensus algorithms for double-integrator dynamics. In: Proc IEEE Conf Decision and Control, New Orleans, LA, USA, 2007. 2295\u20132300","DOI":"10.1109\/CDC.2007.4434756"},{"key":"185_CR21","doi-asserted-by":"crossref","unstructured":"Tanner H G. On the controllability of nearest neighbor interconnections. In: Proc IEEE Conf Decision and Control, Atlantis, Paradise Island, Bahamas, 2004. 2467\u20132472","DOI":"10.1109\/CDC.2004.1428782"},{"key":"185_CR22","doi-asserted-by":"crossref","unstructured":"Rahmani A, Mesbahi M. On the controlled agreement problem. In: Proc Amer Contr Conf, Minneapolis, Minnesota, USA, 2006. 1376\u20131381","DOI":"10.1109\/ACC.2006.1656409"},{"issue":"4","key":"185_CR23","doi-asserted-by":"crossref","first-page":"1009","DOI":"10.1109\/TAC.2008.919548","volume":"53","author":"B. Liu","year":"2008","unstructured":"Liu B, Chu T G, Wang L, et al. Controllability of a leaderfollower dynamic network with switching topology. IEEE Trans Automat Contr, 2008, 53(4): 1009\u20131013","journal-title":"IEEE Trans Automat Contr"},{"key":"185_CR24","doi-asserted-by":"crossref","unstructured":"Ji Z J, Lin H, Lee T H. A graph theory based characterization of controllability for multi-agent systems with fixed topology. In: Proc IEEE Conf Decision and Control, Mexico, USA, 2008. 5262\u20135267","DOI":"10.1109\/CDC.2008.4738636"},{"key":"185_CR25","unstructured":"Ji M, Muhammad A, Egerstedt M. Leader-based multi-agent coordination: controllability and optimal control. In: Proc Amer Contr Conf, Minneapolis, 2006. 1358\u20131363"},{"key":"185_CR26","doi-asserted-by":"crossref","unstructured":"Ji M, Egerstedt M. A graph theoretic characterization of controllability for multi-agent systems. In: Proc Amer Contr Conf. New York, USA, 2007. 11\u201313","DOI":"10.1109\/ACC.2007.4283010"},{"issue":"2","key":"185_CR27","first-page":"152","volume":"1","author":"R. E. Kalman","year":"1963","unstructured":"Kalman R E. Mathematical description of linear dynamical systems. SIAM J Contr, 1963, 1(2): 152\u2013192","journal-title":"SIAM J Contr"},{"key":"185_CR28","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/978-1-4613-0163-9_9","volume-title":"Algebraic Graph Theory","author":"C. Godsil","year":"2001","unstructured":"Godsil C, Royle G. Algebraic Graph Theory. New York: Springer-Verlag, 2001. 193\u2013195"},{"issue":"5","key":"185_CR29","doi-asserted-by":"crossref","first-page":"678","DOI":"10.1115\/1.2764508","volume":"129","author":"W. Ren","year":"2007","unstructured":"Ren W, Moore K, Chen Y Q. High-Order and Model Reference Consensus Algorithms in Cooperative Control of Multi-Vehicle Systems. J Dyn Syst-T ASME, 2007, 129(5): 678\u2013688","journal-title":"J Dyn Syst-T ASME"},{"key":"185_CR30","doi-asserted-by":"crossref","unstructured":"Jiang F C, Wang L, Jia Y M. Consensus problems for leaderless networks of high-order-integrator agents. In: Proc Amer Contr Conf, St. Louis, Missouri, USA, 2009. 4458\u20134463","DOI":"10.1109\/ACC.2009.5160648"},{"key":"185_CR31","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/978-1-4684-0374-9","volume-title":"Mathematical control theory: deterministic finite dimensional systems","author":"E. D. Sontag","year":"1990","unstructured":"Sontag E D. Mathematical control theory: deterministic finite dimensional systems. New York: Springer-Verlag, 1990. 137\u2013145"},{"key":"185_CR32","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1109\/TAC.1974.1100557","volume":"19","author":"C. T. Lin","year":"1974","unstructured":"Lin C T. Structural controllability. IEEE Trans Automat Contr, 1974, AC-19: 201\u2013208","journal-title":"IEEE Trans Automat Contr"},{"issue":"6","key":"185_CR33","doi-asserted-by":"crossref","first-page":"748","DOI":"10.1109\/TAC.1968.1099017","volume":"13","author":"M. Heymann","year":"1968","unstructured":"Heymann M, Wonham W. Comments: on pole assignment in multi-input controllable linear systems. IEEE Trans Automat Contr, 1968, 13(6): 748\u2013749","journal-title":"IEEE Trans Automat Contr"},{"issue":"3","key":"185_CR34","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1109\/TAC.1981.1102707","volume":"AC-26","author":"H. Mayeda","year":"1981","unstructured":"Mayeda H. On structural controllability theorem. IEEE Trans Automat Contr, 1981, AC-26(3): 795\u2013798","journal-title":"IEEE Trans Automat Contr"},{"issue":"2","key":"185_CR35","doi-asserted-by":"crossref","first-page":"853","DOI":"10.1016\/j.physa.2006.08.015","volume":"374","author":"J. P. Hu","year":"2007","unstructured":"Hu J P, Hong Y G. Leader-following coordination of multiagent systems with coupling time delays. Physica A, 2007, 374(2): 853\u2013863","journal-title":"Physica A"}],"container-title":["Science in China Series F: Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-009-0185-7.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s11432-009-0185-7\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-009-0185-7","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,6,1]],"date-time":"2019-06-01T11:36:01Z","timestamp":1559388961000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s11432-009-0185-7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,11]]},"references-count":35,"journal-issue":{"issue":"11","published-print":{"date-parts":[[2009,11]]}},"alternative-id":["185"],"URL":"https:\/\/doi.org\/10.1007\/s11432-009-0185-7","relation":{},"ISSN":["1009-2757","1862-2836"],"issn-type":[{"value":"1009-2757","type":"print"},{"value":"1862-2836","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,11]]}}}