Related papers: Scalable distributed and decentralized $\mathscr{H…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…
This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
Distributed controller synthesis offers scalable and privacy-preserving control design, but typical state-of-the-art approaches either assume white-box models or resort to centralized synthesis. In this paper, we combine partially known…
Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop $\mathcal{H}_\infty$ norm. Inspired by the solution to…
Standard H2 optimal control of networked dynamic systems tend to become unscalable with network size. Structural constraints can be imposed on the design to counteract this problem albeit at the risk of making the solution non-convex. In…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is to achieve dissipativity with respect to a given quadratic supply rate or a given $H_2$…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid…
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability and information privacy have become increasingly critical.…
Many correct-by-construction control synthesis methods suffer from the curse of dimensionality. Motivated by this challenge, we seek to reduce a correct-by-construction control synthesis problem to subproblems of more modest dimension. As a…
The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is…
This article presents a novel framework for the robust controller synthesis problem in discrete-time systems using dynamic Integral Quadratic Constraints (IQCs). We present an algorithm to minimize closed-loop performance measures such as…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…