Algorithms to select right driver nodes for multi-agent systems

This paper studies a problem of selecting a right set of driver nodes of multiple input multi-agent system (MAS) subject to actuator saturation. A controllable multi-agent system can be driven from any initial state to any desired state using a set of driver nodes. For many systems, a set of driver nodes to control the multi-agent system is not unique. It is important to characterize this set of driver nodes and select the right set of driver nodes. The work discusses theory and algorithms to select a set of driver nodes. The selection of a particular set as a driver set is based on region of attraction associated with a particular set. The set is selected such that largest region of attraction can be obtained. A multiple-input multi-agent system which can be controllable using a set of driver nodes is considered. Nonuniqueness of the set of driver nodes poses a challenge to select a right set of driver nodes. The work addresses this issue. The presented algorithms are illustrated through examples.