Systems and Control
Differential privacy has emerged as a formal framework for protecting sensitive information in control systems. One key feature is that it is immune to post-processing, which means that arbitrary post-hoc computations can be performed on…
In this paper we introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). It is designed to facilitate modelling, controller design and simulation for a wide class of NMPC applications. MATMPC…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
We propose a new method to accelerate the convergence of optimization algorithms. This method simply adds a power coefficient $\gamma\in[0,1)$ to the gradient during optimization. We call this the Powerball method and analyze the…
We propose controller synthesis for state regulation problems in which a human operator shares control with an autonomy system, running in parallel. The autonomy system continuously improves over human action, with minimal intervention, and…
The solvability of a delay differential equation arising in the construction of quadratic cost functionals, i.e. Lyapunov functionals, for a linear time-delay system with a constant and a distributed delay is investigated. We present a…
Learning the structure of a network from time series data, in particular cyclostationary data, is of significant interest in many disciplines such as power grids, biology and finance. In this article, an algorithm is presented for…
This paper presents a library of second-order models for synchronous machines that can be utilized in power system dynamic performance analysis and control design tasks. The models have a similar structure to the classical model in that…
Investigation of social influence dynamics requires mathematical models that are "simple" enough to admit rigorous analysis, and yet sufficiently "rich" to capture salient features of social groups. Thus, the mechanism of iterative opinion…
To understand the sophisticated control mechanisms of the human's endocrine system is a challenging task that is a crucial step towards precise medical treatment of many disfunctions and diseases. Although mathematical models describing the…
In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…
This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial…
We consider a linear time-invariant system in discrete time where the state and input signals satisfy a set of integral quadratic constraints (IQCs). Analogous to the autonomous linear systems case, we define a new notion of spectral radius…
We study distributed cooperative decision-making under the explore-exploit tradeoff in the multiarmed bandit (MAB) problem. We extend the state-of-the-art frequentist and Bayesian algorithms for single-agent MAB problems to cooperative…
This paper provides the first description of a weak practical super-martingale phenomenon that can emerge in the test statistic in Shiryaev's Bayesian quickest change detection (QCD) problem. We establish that this super-martingale…
We consider the problem of online path planning for joint detection and tracking of multiple unknown radio-tagged objects. This is a necessary task for gathering spatio-temporal information using UAVs with on-board sensors in a range of…
We study the explore-exploit tradeoff in distributed cooperative decision-making using the context of the multiarmed bandit (MAB) problem. For the distributed cooperative MAB problem, we design the cooperative UCB algorithm that comprises…
The ability to achieve coordinated behavior --engineered or emergent-- on networked systems has attracted widespread interest over several fields. This has led to remarkable advances on the development of a theoretical understanding of the…
Recent contributions have studied how an influence system may affect the wisdom of crowd phenomenon. In the so-called naive learning setting, a crowd of individuals holds opinions that are statistically independent estimates of an unknown…
Following the occurrence of an extreme natural or man-made event, community recovery management should aim at providing optimal restoration policies for a community over a planning horizon. Calculating such optimal restoration polices in…