Controllability of multiagent systems with a directed tree (Q1664635)

Summary: This paper addresses the controllability problem of multiagent systems with a directed tree based on the classic agreement protocol, in which the information communication topologies being a directed tree and containing a directed tree are both investigated. Different from the literatures, a new method, the star transform, is proposed to study the controllability of multiagent systems with directed topology. Some sufficient and necessary conditions are given for the controllability of such multiagent system. Numerical examples and simulations are proposed to illustrate the theoretical results.