Distributed Design of Controllable and Robust Networks using Zero Forcing and Graph Grammars

This paper studies the problem of designing networks that are strong structurally controllable, and robust simultaneously. For given network specifications, including the number of nodes $N$, the number of leaders $NL$, and diameter $D$, where $2 \le D \le N/NL$, we propose graph constructions generating strong structurally controllable networks. We also compute the number of edges in graphs, which are maximal for improved robustness measured by the algebraic connectivity and Kirchhoff index. For the controllability analysis, we utilize the notion of zero forcing sets in graphs. Additionally, we present graph grammars, which are sets of rules that agents apply in a distributed manner to construct the graphs mentioned above. We also numerically evaluate our methods. This work exploits the trade-off between network controllability and robustness and generates networks satisfying multiple design criteria.