  Controllability refers to a situation in which a Multi-agent System may be
steered from one state to another using specified rules. As a result, there is
belief in achieving a given condition by explicit advances. The level of
dynamism in the topology and the level of determinism in the environment are
two fundamental criteria that determine multi-agent system controllability. The
topology of a powerful multi-agent system changes on a regular basis, altering
the connections between agents and hence their cooperative effort. This survey
focuses on the controllability of MAS in a switching network with a leader that
follows the closest neighbour collaboration rule. The leader/pioneer is a
single agent that functions as an output to control other agents/members.
Because the results of activities are unknown under non-deterministic
situations, agents must choose new activities after observing the aftereffects
of their prior actions, which causes time delay and limits agent proactivity.
Controllability is often achieved in a concentrated manner in the literature,
where a certain leader educates supporters how to achieve a specific goal.
Controllability has different applications which incorporates managing
airplane, vehicle, and robots.
