Related papers: Graph-Theoretic Characterizations of Structural Co…
Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. In this work…
Time-varying hierarchical multi-agent systems are common in many applications. A well-known solution to control these systems is to use state feedback controllers that depend on the adjacency matrix to reach consensus. This solution has…
Large-scale multi-agent communication has long faced a scalability bottleneck: fully connected networks require quadratic complexity, yet existing sparse topologies rely on hand-crafted rules. This paper treats the communication graph…
This letter examines the controllability of consensus dynamics on matrix-weighed networks from a graph-theoretic perspective. Unlike the scalar-weighted networks, the rank of weight matrix introduces additional intricacies into…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
This paper studies structural controllability for a networked dynamic system (NDS), in which each subsystem may have different dynamics, and unknown parameters may exist both in subsystem dynamics and in subsystem interconnections. In…
This work examines the problem of topology inference over discrete-time nonlinear stochastic networked dynamical systems. The goal is to recover the underlying digraph linking the network agents, from observations of their state-evolution.…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a…
This paper proposes two algorithms, namely "back-tracking" and "history following", to reach consensus in case of communication loss for a network of distributed agents with switching topologies. To reach consensus in distributed control,…
We study synchronization and consensus in a group of dynamical systems coupled via multiple directed networks. We show that even though the coupling in a single network may not be sufficient to synchronize the systems, combination of…
In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…
This paper considers the distributed consensus problem of linear multi-agent systems subject to different matching uncertainties for both the cases without and with a leader of bounded unknown control input. Due to the existence of…
In the typical multiagent formation tracking problem centered on consensus, the prevailing assumption in the literature is that the agents' nonlinear models can be approximated by integrator systems, by their feedback-linearized…
In this paper, we propose a novel approach that employs kinetic equations to describe the collective dynamics emerging from graph-mediated pairwise interactions in multi-agent systems. We formally show that for large graphs and specific…
The duality between controllability and observability enables methods developed for full-state control to be applied to full-state estimation, and vice versa. In applications in which control or estimation of all state variables is…
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special…
We investigate a game-theoretic model of a social system where both the rules of the game and the interaction structure are shaped by the behavior of the agents. We call this type of model, with several types of feedback couplings from the…
Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…
This paper presents a novel graph-based method for adapting control system architectures at runtime. We use a service-oriented architecture as a basis for its formulation. In our method, adaptation is achieved by selecting the most suitable…