Flocking algorithm for directed multi-agent networks via pinning control

In this paper, an effective pinning strategy for directed multi-agent network to improve the control efficiency is proposed, and combining the theory of graph and analysis of control theory method. The algorithm based on information transfer matrix of the multi-agent network topology structure and according to maximum multiplicity of its eigenvalue, the number of pinning nodes is obtained when the network controllable, then, using the control theory of PBH criterion to identify the specific pinned node and the pinning flocking control law is designed. Furthermore, analyze different combination of pinned nodes and topological properties for pinned node is obtained. Simulation results demonstrate that the proposed algorithm is effective in improving the control efficiency of the entire system.