Structural controllability of multi-agent systems with general linear dynamics over finite fields

This paper studies structural controllability of multi-agent systems over finite fields, where each agent is governed by general linear dynamics defined over finite fields. For fixed topology, an absolute protocol is proposed, under which we investigate the structural controllability of multi-agent systems over finite fields. It is shown that a multi-agent system is structurally controllable over a finite field if the graph has a spanning forest. For switching topology, an algebraic condition is given for the structural controllability of switched multi-agent systems.