Communication and Concurrency
Paper: Decentralized control of linear multivariable systems
Automatica (Journal of IFAC)
Controllability of Multi-Agent Systems from a Graph-Theoretic Perspective
SIAM Journal on Control and Optimization
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
Comments on 'Controllability analysis of multi-agent systems using relaxed equitable partitions'
International Journal of Systems, Control and Communications
Transfer function representation of cyclic consensus systems
Automatica (Journal of IFAC)
Structural controllability of multi-agent networks: importance of individual agents
Proceedings of the 2012 ACM Research in Applied Computation Symposium
Structural controllability of multi-agent networks: Robustness against simultaneous failures
Automatica (Journal of IFAC)
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This paper investigates how to make decentralised networks, amenable to external control, i.e., how to ensure that they are appropriately organised so that they can be effectively 'reprogrammed'. In particular, we study networked systems whose interaction dynamics are given by a nearest-neighbour averaging rule, with one leader node providing the control input to the entire system. The main result is a necessary and sufficient condition for the controllability of such systems in terms of the graph topology. In particular, we give a graph theoretic interpretation of the controllability properties through the so-called relaxed equitable partition.