TY - JOUR
T1 - A tight lower bound on the controllability of networks with multiple leaders
AU - Yazicioglu, A. Yasin
AU - Abbas, Waseem
AU - Egerstedt, Magnus
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/CDC.2012.6426844
DO - 10.1109/CDC.2012.6426844
M3 - Conference article
AN - SCOPUS:84874237702
SN - 0743-1546
SP - 1978
EP - 1983
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
M1 - 6426844
T2 - 51st IEEE Conference on Decision and Control, CDC 2012
Y2 - 10 December 2012 through 13 December 2012
ER -