Related papers: Localization of Control Synthesis Problem for Larg…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
This paper presents a method for synthesizing a reactive program which coordinates the actions of a group of other reactive programs, so that the combined system satisfies a temporal specification of its desired long-term behavior.…
This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). A consensus-type control protocol is proposed based on…
This paper is concerned with a compositional scheme for the construction of control barrier certificates for interconnected discrete-time stochastic systems. The main objective is to synthesize switching control policies against…
This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of…
Ensuring string stability is critical for the safety and efficiency of large-scale interconnected systems. Although learning-based controllers (e.g., those based on reinforcement learning) have demonstrated strong performance in complex…
Classic distributed control problems have an interesting dichotomy: they are either trivial or undecidable. If we allow the controllers to fully synchronize, then synthesis is trivial. In this case, controllers can effectively act as a…
The control synthesis of a dynamic system subject to a signal temporal logic (STL) specification is commonly formulated as a mixed-integer linear/convex programming (MILP/MICP) problem. Solving such a problem is computationally expensive…
We consider the linear quadratic (LQ) optimal control problem for a class of evolution equations in infinite dimensions, in the presence of distributed and nonlocal inputs. Following the perspective taken in our previous research work on…
We introduce a technique to detect and quantify local functional dependencies between coupled chaotic systems. The method estimates the fraction of locally syncronized configurations, in a pair of signals with an arbitrary state of global…
We consider a discrete-time linear-quadratic Gaussian control problem in which we minimize a weighted sum of the directed information from the state of the system to the control input and the control cost. The optimal control and sensing…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
We present a method for synthesizing controllers to steer trajectories from an initial set to a target set on a finite time horizon. The proposed control synthesis problem is decomposed into two steps. The first step under-approximates the…
This paper describes a way to improve the scalability of program synthesis by exploiting modularity: larger programs are synthesized from smaller programs. The key issue is to make each "larger-created-from-smaller" synthesis sub-problem be…
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem (VDNT). However, determining the dissipativity of a system is an…
Stakeholders' expectations and technology constantly evolve during the lengthy development cycles of a large-scale computer based system. Consequently, the traditional approach of baselining requirements results in an unsatisfactory system…
A large-scale complex system comprising many, often spatially distributed, dynamical subsystems with partial autonomy and complex interactions are called system of systems. This paper describes an efficient algorithm for model predictive…
This paper develops a controller synthesis method for distributed LQG control problems under output-feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While the…
We consider the problem of designing distributed controllers to ensure passivity of a large-scale interconnection of linear subsystems connected in a cascade topology. The control design process needs to be carried out at the…