Optimal leader selection for controllability and robustness in multi-agent networks

Katherine Fitch, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

Two optimal leader selection problems are examined for multi-agent networks. The optimal leader set is the set of m > 0 leaders that maximizes performance of a linear dynamic network. In the problem for controllability, each leader is identified with a control input, and performance is measured by average controllability and reachable subspace volume. In the problem for robustness, each leader responds to an external signal, the linear dynamics are noisy, and the performance is measured by the steady-state system error. Previously, we showed that the optimal leader set for robustness maximizes a joint centrality in the network graph. In this paper, we show how the optimal leader set for controllability depends also on measures of the graph, including information centrality of leaders and eigenvectors of the graph Laplacian. We explore a fundamental trade-off between optimal leader selection for controllability and for robustness, and we outline a distributed algorithm for the selection of a pair of leaders in trees.

Original languageEnglish (US)
Title of host publication2016 European Control Conference, ECC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1550-1555
Number of pages6
ISBN (Electronic)9781509025916
DOIs
StatePublished - Jan 1 2016
Event2016 European Control Conference, ECC 2016 - Aalborg, Denmark
Duration: Jun 29 2016Jul 1 2016

Publication series

Name2016 European Control Conference, ECC 2016

Other

Other2016 European Control Conference, ECC 2016
CountryDenmark
CityAalborg
Period6/29/167/1/16

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Control and Optimization

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    Fitch, K., & Leonard, N. E. (2016). Optimal leader selection for controllability and robustness in multi-agent networks. In 2016 European Control Conference, ECC 2016 (pp. 1550-1555). [7810511] (2016 European Control Conference, ECC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2016.7810511