Necessary and sufficient conditions for controllability of multi-agent systems with special topology
Yongqiang Guan, Wang Long · 2017
In this paper, the controllability of multi-agent systems is studied under leader-follower framework, where the interconnection between agents is directed. Some necessary and sufficient conditions are derived for the controllability of multi-agent systems with special topology. The results provide insights into the effect of leader selection and weight assignment on controllability. In addition, a leader selection algorithm for tree graph is presented.