Graph-theoretic characterization of controllability for multi-agent systems
Feng Wang · Kongzhi yu juece · 2011
The paper studies the controllability problem for multi-agent systems with leader-follower structure.The relationship between system controllability and communication topology is characterized based on graph theory.A graph theoretic criterion for controllability is provided.The concept of symmetry is extended to multi-leaders systems through permutation group theory,it is proved that both topology symmetry and equitable partition are two special cases of relaxed equitable partitions.Simulation results show effectiveness of proposed method.