Related papers: Practical Distributed Control Synthesis
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
Conventional distributed approaches to coverage control may suffer from lack of convergence and poor performance, due to the fact that agents have limited information, especially in non-convex discrete environments. To address this issue,…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is…
A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…
We consider optimal control of decentralized LQG problems for plants controlled by two players having asymmetric information sharing patterns between them. In one scenario, players are assumed to have a bidirectional error-free, unlimited…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
We study the fundamental limits to communication-efficient distributed methods for convex learning and optimization, under different assumptions on the information available to individual machines, and the types of functions considered. We…
This paper considers two problems -- a dynamic team problem and a decentralized control problem. The problems we consider do not belong to the known classes of "simpler" dynamic team/decentralized control problems such as partially nested…
A system is called positive if the set of non-negative states is left invariant by the dynamics. Stability analysis and controller optimization are greatly simplified for such systems. For example, linear Lyapunov functions and storage…
We consider a decentralized system with multiple controllers and define substitutability of one controller by another in open-loop strategies. We explore the implications of this property on the optimization of closed-loop strategies. In…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…