Related papers: Passivity based distributed tracking control of ne…
In this paper, we focus on reducing node-to-node information exchange in distributed control of multiagent networks while improving the overall network performance. Specifically, we consider a multiagent network that is composed of leader…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
Event-triggered networked control of a linear dynamical system is investigated. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel. State and control input information packets…
We study an optimal control problem aimed at achieving a desired tradeoff between the network coherence and communication requirements in the distributed controller. Our objective is to add a certain number of edges to an undirected…
In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
Control of large-scale networked systems often necessitates the availability of complex models for the interactions amongst the agents. However in many applications, building accurate models of agents or interactions amongst them might be…
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…
This paper studies synchronization of dynamical networks with event-based communication. Firstly, two estimators are introduced into each node, one to estimate its own state, and the other to estimate the average state of its neighbours.…
Recently, Directed Acyclic Graph (DAG) based Distributed Ledgers have been proposed for various applications in the smart mobility domain [1]. While many application studies have been described in the literature, an open problem in the DLT…
We study a networked control architecture for linear time-invariant plants in which an unreliable data-rate limited network is placed between the controller and the plant input. The distinguishing aspect of the situation at hand is that an…
Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…
We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we…
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…
This paper proposes a novel two-layer Volt/VAR control (VVC) framework to regulate the voltage profiles across an unbalanced active distribution system, which achieves both the efficient open-loop optimization and accurate closed-loop…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
In this paper, we propose an optimal control-estimation architecture for distribution networks, which jointly solves the optimal power flow (OPF) problem and static state estimation (SE) problem through an online gradient-based feedback…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
We consider the policy gradient adaptive control (PGAC) framework, which adaptively updates a control policy in real time, by performing data-based gradient descent steps on the linear quadratic regulator cost. This method has empirically…
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially…