Related papers: Optimal Input Placement in Lattice Graphs
Controlling a complex network towards a desire state is of great importance in many applications. Existing works present an approximate algorithm to find the driver nodes used to control partial nodes of the network. However, the driver…
The increasing penetration of inertialess new renewable energy sources reduces the overall mechanical inertia available in power grids and accordingly raises a number of issues of grid stability over short to medium time scales. It has been…
Robust control theory has been successfully applied to numerous real-world problems using a small set of devices called {\it controllers}. However, the real systems represented by networks contain unreliable components and modern robust…
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a…
Exact controllability for the wave equation on a metric graph consisting of a cycle and two attached edges is proven. One boundary and one internal control are used. At the internal vertices, delta-prime conditions are satisfied. As a…
We study controllability and constructive synthesis for control-affine systems. We introduce trajectory-dependent Gramian maps that extend the linear time-varying Gramian and yield explicit fixed-point synthesis maps. On feasible coercivity…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
A controllable network can be driven from any initial state to any desired state using driver nodes. A set of driver nodes to control a network is not unique. It is important to characterize these driver nodes and select the right driver…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
To promote the implementation of realistic control over various complex networks, recent work has been focusing on analyzing energy cost. Indeed, the energy cost quantifies how much effort is required to drive the system from one state to…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
We consider the problem of a dynamical network whose dynamics is subject to external perturbations (`attacks') locally applied at a subset of the network nodes. We assume that the network has an ability to defend itself against attacks with…
Controlling real-world networked systems, including ecological, biomedical, and engineered networks that exhibit higher-order interactions, remains challenging due to inherent nonlinearities and large system scales. Despite extensive…
This paper considers the optimal control and stabilization problems for networked control systems (NCSs) with asymmetric information. In this NCSs model, the remote controller can receive packet-dropout states of the plant, and the…
It has recently been shown that the minimum energy solution of the control problem for a linear system produces a control trajectory that is nonlocal. An issue then arises when the dynamics represents a linearization of the underlying…
Power grids are undergoing major changes from a few large producers to smart grids build upon renewable energies. Mathematical models for power grid dynamics have to be adapted to capture, when dynamic nodes can achieve synchronization to a…
This paper considers the problem of reachability analysis of control systems with optimal controllers, as a first step towards verifying the safety and correctness of such systems. Despite their appeal in guaranteeing task satisfaction…
Networked systems display complex patterns of interactions between a large number of components. In physical networks, these interactions often occur along structural connections that link components in a hard-wired connection topology,…
This paper investigates the impact of addition/removal of edges in a complex networked control system, for the purposes of improving its controllability, system performances or robustness to external disturbances. The transfer function…
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…