On Controllability of Leader-Follower Dynamics over a Directed Graph
Jayakumar Subramanian, Aditya Mahajan, Aditya Avinash Paranjape · 2018
In this paper, we investigate the problem of determining the structural controllability of leader-follower systems defined over directed graphs. We identify the notions of graph structural controllability and strong graph structural controllability in leader-follower systems on directed graphs. We show that accessibility is a necessary and sufficient condition for graph structural controllability over directed graphs. Next, we identify a sufficient and a necessary condition for strong graph structural controllability. Finally, we derive a sufficient condition for controllability when two graphs are cascaded. We present examples that illustrate the various concepts.