Abstract
The paper investigates the structural controllability of leader-follower multi-agent systems underfixed and switching topologies. Three models of agents: double-integrator, high-orderintegrator and general-linear dynamics are analyzed. Necessary and sufficient graphical conditionsare provided for structural controllability based on communication topology of thesystem. In particular, a linear neighbor-based control protocol is designed for generic linearagents under which structural controllability is proved to be uniquely determined bycommunication topology structure. The role that leaders play in the structural controllabilityof multi-agent system is characterized, and a method is developed to realize structural controllabilityunder single leader. The results clearly indicate the role of leaders and theeffect of communication topology on structural controllability.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
