A design method for controllable topologies of multi-agent networks

For a multi-agent system with each agent having general linear dynamics, necessary and sufficient algebraic conditions are proposed for controllability. Then the difference in algebraic controllability conditions between single-integrator and generic multi-agent systems is pointed out. Based on these conditions and the identified indecisive graph node, a method is finally developed for the design of controllable topologies. The result also indicates the importance of recognition of uncontrollable topology structures.