Related papers: Destructive nodes in multi-agent controllability
This paper addresses the bipartite consensus-control problem in open multi-agent systems containing both cooperative and antagonistic interactions. In these systems, new agents can join and new interactions can be formed over time.…
The interaction of distinct units in physical, social, biological and technological systems naturally gives rise to complex network structures. Networks have constantly been in the focus of research for the last decade, with considerable…
In the present work we investigate topological properties of the set of controllable differential-algebraic systems of the form $\tfrac{\text{d}}{\text{d}t}Ex = Ax+Bu$ with real matrices $E,A\in\mathbb{R}^{\ell\times n}$ and…
This paper presents new graph-theoretic conditions for structural target controllability of directed networks. After reviewing existing conditions and highlighting some gaps in the literature, we introduce a new class of network systems,…
This paper proposes a notion termed perturbation-tolerant structural controllability (PTSC) to study the generic property of controllability preservation/resilience of structured linear systems under structured perturbations. A structured…
The objective of this paper is to study the controllability of discrete-time linear control systems in solvable Lie groups. In the special case of nilpotent Lie groups, a necessary and sufficient condition for controllability is…
A dynamical network, a graph whose nodes are dynamical systems, is usually characterized by a large dimensional space which is not always accesible due to the impossibility of measuring all the variables spanning the state space. Therefore,…
The ability of a soft robot to perform specific tasks is determined by its contact configuration, and transitioning between configurations is often necessary to reach a desired position or manipulate an object. Based on this observation, we…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
In this paper, we consider a network of agents with Laplacian dynamics, and study the problem of improving network robustness by adding a maximum number of edges within the network while preserving a lower bound on its strong structural…
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…
Complex diseases can be modeled as damage to intracellular networks that results in abnormal cell behaviors. Network-based dynamic models such as Boolean models have been employed to model a variety of biological systems including those…
Our ability to control network dynamical systems is often hindered by constraints on the number and nature of the available control actions, which make controlling the whole network unfeasible. In this manuscript, we focus on the case where…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
To better understand the correlation between network topological features and the robustness of network controllability in a general setting, this paper suggests a practical approach to searching for optimal network topologies with given…
In this paper, given a linear time-invariant strongly connected network, we study the problem of determining the minimum number of state variables that need to be simultaneously actuated and measured to ensure structural controllability and…
In control theory, researchers need to understand a system's local and global behaviors in relation to its initial conditions. When discussing observability, the main focus is on the ability to analyze the system using an output space…
In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents corresponding to the nodes of a graph whose…
A faithful description of the state of a complex dynamical network would require, in principle, the measurement of all its $d$ variables, an infeasible task for systems with practical limited access and composed of many nodes with high…