Leader selection and network assembly for controllability of leader-follower networks

In this paper, we study leader selection and network assembly for controllability of networked systems using tools from 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 dedicated leader nodes, and their influence is propagated throughout the network. In this paper, we devise a topological leader selection scheme and a network assembly scheme, both achieving complete controllability by utilizing the invariance of system controllability to the links between the leaders.