Related papers: Sparse Stabilization and Control of Alignment Mode…
In recent years, numerous studies have focused on the mathematical modeling of social dynamics, with self-organization, i.e., the autonomous pattern formation, as the main driving concept. Usually, first or second order models are employed…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
We study the numerical realisation of optimal consensus control laws for agent-based models. For a nonlinear multi-agent system of Cucker-Smale type, consensus control is cast as a dynamic optimisation problem for which we derive…
For high dimensional particle systems, governed by smooth nonlinearities depending on mutual distances between particles, one can construct low-dimensional representations of the dynamical system, which allow the learning of nearly optimal…
Cooperative systems are systems in which the forces among agents are non-repulsive. The free evolution of such systems can tend to the formation of patterns, such as consensus or clustering, depending on the properties and intensity of the…
The well-known Cucker-Smale model is a macroscopic system reflecting flocking, i.e. the alignment of velocities in a group of autonomous agents having mutual interactions. In the present paper, we consider the mean-field limit of that…
In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed of a consensus protocol with single-integrator dynamics. Under the assumption that communication delays increase with the number of…
In this paper we provide a set of stability conditions for linear time-invariant networked control systems with arbitrary topology, using a Lyapunov direct approach. We then use these stability conditions to provide a novel low-complexity…
We study the problem of consensus emergence in multi-agent systems via external feedback controllers. We consider a set of agents interacting with dynamics given by a Cucker-Smale type of model, and study its consensus stabilization by…
We propose a self-triggered control algorithm to reduce onboard processor usage, communication bandwidth, and energy consumption across a linear time-invariant networked control system. We formulate an optimal control problem by penalizing…
In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…
Optimal control models have been successful in describing many aspects of human movement. The interpretation of such models regarding neuronal implementation of the human motor system is not clear. An important aspects of optimal control…
In this work, we consider the controllability of a discrete-time linear dynamical system with sparse control inputs. Sparsity constraints on the input arises naturally in networked systems, where activating each input variable adds to the…
Optimal control of large particle systems with collective dynamics by few agents is a subject of high practical importance (e.g. in evacuation dynamics), but still limited mathematical basis. In particular the transition from discrete…
A common approach to distributed control design is to impose sparsity constraints on the controller structure. Such constraints, however, may greatly complicate the control design procedure. This paper puts forward an alternative structure,…
The paper introduces and solves a structural controllability problem for continuum ensembles of linear time-invariant systems. All the individual linear systems of an ensemble are sparse, governed by the same sparsity pattern.…
We study sparse solutions of optimal control problems governed by PDEs with uncertain coefficients. We propose two formulations, one where the solution is a deterministic control optimizing the mean objective, and a formulation aiming at…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…
Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…
Recent years have seen several new directions in the design of sparse control of cyber-physical systems (CPSs) driven by the objective of reducing communication cost. One common assumption made in these designs is that the communication…