Related papers: Balanced Truncation of Networked Linear Passive Sy…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
In an earlier paper, a randomized load balancing model was studied in a heavy traffic asymptotic regime where the load balancing stream is thin compared to the total arrival stream. It was shown that the limit is given by a system of…
This work concerns control-oriented and structure-preserving learning of low-dimensional approximations of high-dimensional physical systems, with a focus on mechanical systems. We investigate the integration of neural autoencoders in model…
We present a data-driven nonintrusive model order reduction method for dynamical systems with moving boundaries. The proposed method draws on the proper orthogonal decomposition, Gaussian process regression, and moving least squares…
This paper addresses the problem of model reduction for dynamical system models that describe biochemical reaction networks. Inherent in such models are properties such as stability, positivity and network structure. Ideally these…
In this paper, we develop a novel weighted Laplacian method, which is partially inspired by the theory of graph Laplacian, to study recent popular graph problems, such as multilevel graph partitioning and balanced minimum cut problem, in a…
This paper studies regulated state synchronization of homogeneous networks of non-introspective agents in presence of unknown nonuniform input delays. A scale-free protocol is designed based on additional information exchange, which does…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
Solving optimization problems in multi-agent systems (MAS) involves information exchange between agents. These solutions must be robust to delays and errors that arise from an unreliable wireless network which typically connects the MAS. In…
Conservation laws and balance equations for physical network systems typically can be described with the aid of the incidence matrix of a directed graph, and an associated symmetric Laplacian matrix. Some basic examples are discussed, and…
We analyze a family of Runge-Kutta based quadrature algorithms for the approximation of the gramians of linear time invariant dynamical systems. The approximated gramians are used to obtain an approximate balancing transformation similar to…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
This paper studies the consensus problem for multiagent systems with transmission constraints. A novel model of multiagent systems is proposed where the information transmissions between agents are disturbed by irregular distortions or…
This paper considers large-scale linear stochastic systems representing, e.g., spatially discretized stochastic partial differential equations. Since asymptotic stability can often not be ensured in such a stochastic setting (e.g. due to…
This paper introduces a quadrature-free, non-intrusive approach to balanced truncation for both continuous-time and discrete-time systems. The method non-intrusively constructs reduced-order models using available transfer function samples…
In this paper, we present an adaptive framework for constructing a pseudo-optimal reduced model for the frequency-limited H2-optimal model order reduction problem. We show that the frequency-limited pseudo-optimal reduced-order model has an…
This paper studies global and semi-global regulated state synchronization of homogeneous networks of non-introspective agents in presence of input saturation based on additional information exchange where the reference trajectory is given…
This paper studies scalable global state synchronization of discrete-time double integrator multi-agent systems in presence of input saturation based on localized information exchange. A scale-free collaborative linear dynamic protocols…
We consider linear dynamical systems consisting of ordinary differential equations with high dimensionality. The aim of model order reduction is to construct an approximating system of a much lower dimension. Therein, the reduced system may…