Sampling controllability of multi-agent systems based on structural decomposition

This paper constructs a lower dimensional multi-agent system (MAS) utilizing the structural decomposition of system matrix. Through equivalent transformation, it has been proven that the sampling controllability of the original system is inherited by the lower dimensional system, allowing us to further obtain a criterion for determining the sampling controllability based on topology structure and sampling period. The paper also applies state feedback to the protocol design of MAS during the sampling period, achieving that the sampled-data MAS can still maintain controllability in uncontrollable topologies, and controllability is unaffected by the sampling period. Finally, numerical examples are provided for verification.