On the Edge Controllability of Multiple Dynamic Agents

This paper investigates the edge controllability of multi-agent networks with multiple dynamic agents that have both cooperative and antagonistic interactions. Using the transition relation between edge states and vertex states of the single-integrator network, the network model of multiple edge dynamics is established. Furthermore, under the leader-follower framework, the edge controllability for second-order-integrator, high-order-integrator and general linear dynamic networks are investigated based on consensus protocols. The results show that, under the leader’s position and topology are fixed, the edge controllability for multiple dynamic networks is equivalent to the corresponding single-integrator dynamic networks. In addition, the relations between vertex controllability and edge controllability are further discussed.