Towards characterization of driver nodes in complex network with actuator saturation

The paper proposes a theory and an algorithm to characterize driver node (control node) of a complex network. The proposed algorithm identifies an appropriate driver node when multiple options are available to select a driver node. The method is based on concept of maximization of stability regions. A realistic situation where driver node has limited actuating capability is considered. The proposed control law considers actuator saturation a priori and also ensures a specified convergence rate. Formation control in robotic network and numeric examples are used to verify the theoretical developments.