On a class of controllable single-leader multi-agent systems
Shun‐Pin Hsu · 2016
In this paper the controllability issues of the single-leader multi-agent systems modelled with graphs are considered. Under mild conditions, the author shows that the system that implements the consensus policy is conditionally controllable if the underlying graph has exactly two vertices with the same degree. The controllability is ensured if either one of these two vertices is selected as the leader to receive the control signals.