Structural controllability of multi-agent networks: importance of individual agents

Authors:
Mohammad Amin Rahimian;Amir G. Aghdam
Affiliations:
Computer Engineering, Concordia University, Montréal, Québec, Canada;Computer Engineering, Concordia University, Montréal, Québec, Canada
Venue:
Proceedings of the 2012 ACM Research in Applied Computation Symposium
Year:
2012

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Abstract

This work is concerned with the problem of structural controllability in a leader-follower multi-agent network, and it adopts a graph-theoretic approach to address the issue of preservation of controllability under link and agent failures. To evaluate the role of an agent in the network, the controllability of the multi-agent system with and without that agent is investigated and conclusions are drawn accordingly. It is stated that the importance of agents are reflected in their outgoing links and quantitative measures are offered to characterize the importance of individual agents to the controllability of the overall network. Several examples are presented to elucidate the analytical findings.