On the controllability and stabilizability of non-homogeneous multi-agent dynamical systems

In this paper we consider a supervisory control scheme for non-homogenous multi-agent systems. Each agent is modeled through an independent strictly proper SISO state space model, and the supervisory controller, representing the information exchange among the agents, is implemented in turn via a linear state-space model. Controllability and observability of the overall system are characterized, and some preliminary results about stability and stabilizability are provided. The paper extends to nonhomogenous multi-agent systems some of the results obtained in [3], [4], [6] for the homogenous case.