Structural Controllability of a Consensus Network With Multiple Leaders

This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed communication topology. It is proved that the graph-theoretic s...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2019-12, Vol.64 (12), p.5101-5107
Main Authors: Mehrabadi, Milad Kazemi, Zamani, Mohsen, Chen, Zhiyong
Format: Article
Language:English
Subjects:
Controllability
Graph theory
Laplace equations
Leadership
Linear systems
Mathematical analysis
Matrix methods
Multiagent systems
Network topology
Parameterization
structural controllability
Topology
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Summary:This paper examines the structural controllability for a group of agents, called followers, connected to each other based on the consensus law under commands of multiple leaders, which are agents with superior capabilities, over a fixed communication topology. It is proved that the graph-theoretic sufficient and necessary condition for the set of followers to be structurally controllable under the leaders' commands is leader-follower connectivity of the associated graph topology. This shrinks to graph connectivity for the case of solo leader. In the approach, we explicitly put into account the dependence among the entries of the system matrices for a consensus network using the linear parameterization technique.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2019.2909809