Optimal selection strategy for multi-agent system with single leader

In this paper, we consider a class of controlled consensus problem, where a subset of agents called informed agents can receive the information from a leader with constant state. First, we derive sufficient conditions for guaranteeing all the agents reach consensus on the leader state under fixed and switched topology, respectively. Second, we investigate the problem of selecting informed agents for yielding minimal time controlled consensus using optimization tool. Using YALMIP toolbox, we also find that the optimality of the agents could be characterized by some important index in complex network. Finally, we offer some numerical examples to illustrate the results.