Necessary conditions for controllability of nonlinear networked control systems
Cesar O. Aguilar, Bahman Gharesifard · 2014
In this paper, we study the controllability of nonlinear networked systems. In particular, we describe how graph symmetries combined with dynamic symmetries result in a loss of controllability in nonlinear leader-follower networks. Our result generalizes those of Rahmani et al. (2009) who considered the case of a linear consensus-type dynamics, namely the unweighted Laplacian network flow. We consider several nonlinear network control systems that have been previously studied in the literature and characterize the presence of leader-follower graph symmetries that result in the lack of controllability.