This paper examines the structural controllability for a group of agents, called followers,
connected to each other based on the consensus law under commands of multiple leaders,
which are agents with superior capabilities, over a fixed communication topology. It is
proved that the graph-theoretic sufficient and necessary condition for the set of followers to
be structurally controllable under the leaders' commands is leader-follower connectivity of
the associated graph topology. This shrinks to graph connectivity for the case of solo leader …

This paper examines the structural controllability for a group of agents, called followers,
connected to each other based on the consensus law under commands of multiple leaders,
which are agents with superior capabilities, over a fixed communication topology. It is
proved that the graph-theoretic sufficient and necessary condition for the set of followers to
be structurally controllable under the leaders' commands is leader-follower connectivity of
the associated graph topology. This shrinks to graph connectivity for the case of solo leader …