A tight lower bound on the controllability of networks with multiple leaders

Yasin Yazicioglu, Waseem Abbas, Magnus Egerstedt

Research output: Contribution to journalConference articlepeer-review

16 Scopus citations

Abstract

In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a nearest-neighbor averaging rule. In order to control the system, external control inputs are injected into the so called leader nodes, and the influence is propagated throughout the network. Our main result is a tight lower bound on the rank of the controllability matrix associated with such systems. This bound is derived using the distances of nodes to the leaders, and valid for systems with arbitrary network topologies and possibly multiple leaders.

Original languageEnglish (US)
Article number6426844
Pages (from-to)1978-1983
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

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