Related papers: Minimal Driver Nodes for Structural Controllabilit…
Distributed consensus has been intensively studied in recent years as a means to mitigate state differences among dynamic nodes on a graph. It has been successfully employed in various applications, e.g., formation control of multi-robots,…
This note is addressed to giving a short introduction to control theory of stochastic systems, governed by stochastic differential equations in both finite and infinite dimensions. We will mainly explain the new phenomenon and difficulties…
An edge-colored directed graph is \emph{observable} if an agent that moves along its edges is able to determine his position in the graph after a sufficiently long observation of the edge colors. When the agent is able to determine his…
This paper studies the controllability backbone problem in dynamical networks defined over graphs. The main idea of the controllability backbone is to identify a small subset of edges in a given network such that any subnetwork containing…
Our ability to control complex systems is a fundamental challenge of contemporary science. Recently introduced tools to identify the driver nodes, nodes through which we can achieve full control, predict the existence of multiple control…
We consider the problem of controlling a partially-observed dynamic process on a graph by a limited number of interventions. This problem naturally arises in contexts such as scheduling virus tests to curb an epidemic; targeted marketing in…
In this technical note, we study the controllability of diffusively coupled networks from a graph theoretic perspective. We consider leader-follower networks, where the external control inputs are injected to only some of the agents, namely…
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…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
Enabling robots to perform complex dynamic tasks such as picking up an object in one sweeping motion or pushing off a wall to quickly turn a corner is a challenging problem. The dynamic interactions implicit in these tasks are critical…
When a physical system is driven away from equilibrium, the statistical distribution of its dynamical trajectories informs many of its physical properties. Characterizing the nature of the distribution of dynamical observables, such as a…
Many complex systems in biology, physics, and engineering include a large number of state-variables, and measuring the full state of the system is often impossible. Typically, a set of sensors is used to measure part of the state-variables.…
Given a graph $G=(V,E)$, $S\subseteq V$ is a dominating set if every $v\in V\setminus S$ is adjacent to an element of $S$. The Minimum Dominating Set problem asks for a dominating set with minimum cardinality. It is well known that its…
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…
Given a state transition matrix (STM), we reinvestigate the problem of constructing the sparest input matrix with a fixed number of inputs to guarantee controllability. We give a new and simple graph theoretic characterization for the…
Networked systems are systems of interconnected components, in which the dynamics of each component are influenced by the behavior of neighboring components. Examples of networked systems include biological networks, critical…
This paper investigates observability/controllability of a networked dynamic system (NDS) in which system matrices of its subsystems are expressed through linear fractional transformations (LFT). Some relations have been obtained between…
We study the evolution of observables of dynamical systems. For linear systems, we show that observables satisfy a closed differential equation whose minimal order is determined by the dynamical system and observation operator. This yields…
This paper studies the controllability of networked multi-input-multi-output (MIMO) systems, in which the network topology is weighted and directed, and the nodes are heterogeneous higher-dimensional linear time-invariant (LTI) dynamical…
Measurements and sensing implementations impose certain cost in sensor networks. The sensor selection cost optimization is the problem of minimizing the sensing cost of monitoring a physical (or cyber- physical) system. Consider a given set…