Topology uniformity pinning control for multi-agent flocking

Abstract

The optimal selection of pinning nodes for multi-agent flocking is a challenging NP-hard problem. Current pinning node selection strategies mainly rely on centrality measures of complex networks, which lack rigorous mathematical proof for effective flocking control. This paper proposes a pinning node selection strategy based on matrix eigenvalue theory. First, the effect of the pinning node on the eigenvalue of the Laplacian matrix is analyzed. Then, a synchronization index representing the topology uniformity of the multi-agent system is proposed to exert maximum influence on the system synchronizability. A practical optimal pinning node selection method based on the synchronization index is proposed and analyzed using the eigenvalue perturbation method. Finally, simulations demonstrate that the convergence rate of the system obtained using the optimal synchronizability pinning node selection method is better than that achieved with the maximum degree centrality node selection strategy.