Input addition and leader selection for the controllability of graph-based systems

In this paper, we consider dynamical graph-based models, which are well fitted for the structural analysis of complex systems. A significant amount of work has been devoted to the controllability of such graph based models, e.g. recently for multi-agent systems or complex networks. We study here the controllability through input addition in this framework We present several variants of this problem depending on the freedom which is left to the designer on the additional inputs. We use a unified framework, which allows us to encompass the different applications and representations (large scale systems, complex communications networks, multi-agent systems, ... ) and provide convenient graph tools for their analysis. Our contribution is to characterize the structural modifications of the system resulting from an input addition (or a leader selection) and of the mechanisms which lead to controllability. We provide information on the possible location of additional inputs and on the minimal number of inputs to be added for controllability. (C) 2013 Elsevier Ltd. All rights reserved.