Modal Barriers to Controllability in Networks with Linearly-Coupled Homogeneous Subsystems

DOI10.1109/TAC.2021.3063948arXiv1805.01995MaRDI QIDQ6301205FDOQ6301205

Publication date: 4 May 2018

Abstract: The controllability of networks comprising homogeneous multi-input multi-output linear subsystems with linear couplings among them is examined, from a modal perspective. The eigenvalues of the network model are classified into two groups: 1) network-invariant modes, which have very high multiplicity regardless of the network's topology; and 2) special-repeat modes, which are repeated for only particular network topologies and have bounded multiplicity. Characterizations of both types of modes are obtained, in part by drawing on decentralized-fixed-mode and generalized-eigenvalue concepts. We demonstrate that network-invariant modes necessarily prevent controllability unless a sufficient fraction of the subsystems are actuated, both in the network as a whole and in any weakly-connected partition. In contrast, the multiplicities of special-repeat modes have no influence on controllability. Our analysis highlights a distinction between built networks where subsystem interfaces may be unavoidable barriers to controllability, and multi-agent systems where protocols can be designed to ensure controllability.

Mathematics Subject Classification ID

Controllability (93B05) Multivariable systems, multidimensional control systems (93C35) Multi-agent systems (93A16) Networked control (93B70)

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