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We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
In this paper, a necessary and sufficient condition for the controllability of networked systems with heterogeneous dynamics is established where the nodes are higher dimensional linear time invariant systems and the network topology is…
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…
The paper presents a result which relates connectedness of the interaction graphs in a multi-agent systems with the capability for global convergence to a common equilibrium of the system. In particular we extend a previously known result…
Consensusability is an important property for many multi-agent systems (MASs) as it implies the existence of networked controllers driving the states of MAS subsystems to the same value. Consensusability is of interest even when the MAS…
The purpose of this note is to establish a connection between the problem of reliability (when there is an intermittent control-input channel failure that may occur between actuators, controllers and/or sensors in the system) and the notion…
In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…
In this paper we consider the problem of controlling a limited number of target nodes of a network. Equivalently, we can see this problem as controlling the target variables of a structured system, where the state variables of the system…
This paper presents new results and reinterpretation of existing conditions for strong structural controllability in a structured network determined by the zero/non-zero patterns of edges. For diffusively-coupled networks with self-loops,…
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 paper investigates the robustness of strong structural controllability for linear time-invariant and linear time-varying directed networks with respect to structural perturbations, including edge deletions and additions. In this…
The control of complex systems is an ongoing challenge of complexity research. Recent advances using concepts of structural control deduce a wide range of control related properties from the network representation of complex systems. Here,…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These…
The controllability of networks comprising homogeneous multi-input multi-output linear subsystems with linear couplings among them is examined, from a modal perspective. The eigenvalues of the network model are classified into two groups:…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
The problem of controllability of the dynamical state of a network is central in network theory and has wide applications ranging from network medicine to financial markets. The driver nodes of the network are the nodes that can bring the…
The controllability of networked sampled-data systems with zero-order holders on the control and transmission channels is explored, where single- and multi-rate sampling patterns are considered, respectively. The effects of sampling on the…