Related papers: A Suboptimality Approach to Distributed H2 Control…
In this paper we study the optimal formation control of multiple agents whose interaction parameters are adjusted upon a cost function consisting of both the control energy and the geometrical performance. By optimizing the interaction…
A finite horizon linear quadratic(LQ) optimal control problem is studied for a class of discrete-time linear fractional systems (LFSs) affected by multiplicative, independent random perturbations. Based on the dynamic programming technique,…
In this paper, we investigate optimal control of network-coupled subsystems where the dynamics and the cost couplings depend on an underlying undirected weighted graph. The graph coupling matrix in the dynamics may be the adjacency matrix,…
We study the problem of multi-agent control of a dynamical system with known dynamics and adversarial disturbances. Our study focuses on optimal control without centralized precomputed policies, but rather with adaptive control policies for…
This paper investigates distributed zeroth-order feedback optimization in multi-agent systems with coupled constraints, where each agent operates its local action vector and observes only zeroth-order information to minimize a global cost…
In this paper, we develop a novel dynamic distributed optimal safe consensus protocol to simultaneously achieve safety requirements and output optimal consensus. Specifically, we construct a distributed projection optimization algorithm…
Online feedback optimization is a controller design paradigm for optimizing the steady-state behavior of a dynamical system. It employs an optimization algorithm as a dynamic feedback controller and utilizes real-time measurements to bypass…
This paper studies output synchronization problems for heterogeneous networks of continuous- or discrete-time right-invertible linear agents in presence of unknown, non-uniform and arbitrarily large input delay based on localized…
We study cooperative output feedback tracking control of stochastic linear heterogeneous leader-following multi-agent systems. Each agent has a continuous-time linear heterogeneous dynamics with incompletely measurable state, and there are…
This paper considers a collection of networked nonlinear dynamical systems, and addresses the synthesis of feedback controllers that seek optimal operating points corresponding to the solution of network-wide constrained optimization…
In this work, an $H_{\infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such…
A learning approach for optimal feedback gains for nonlinear continuous time control systems is proposed and analysed. The goal is to establish a rigorous framework for computing approximating optimal feedback gains using neural networks.…
In this work, we focus on the design of optimal controllers that must comply with an information structure. State-of-the-art approaches do so based on the H2 or Hinfty norm to minimize the expected or worst-case cost in the presence of…
This paper presents a distributed optimization scheme over a network of agents in the presence of cost uncertainties and over switching communication topologies. Inspired by recent advances in distributed convex optimization, we propose a…
In this paper, a new yet indirect performance guaranteed framework is established to address the distributed tracking control problem for networked uncertain nonlinear strict-feedback systems with unknown time-varying gains under a directed…
We design sparse and block sparse feedback gains that minimize the variance amplification (i.e., the $H_2$ norm) of distributed systems. Our approach consists of two steps. First, we identify sparsity patterns of feedback gains by…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
This work investigates the cooperative output regulation problem of linear multi-agent systems with hybrid sampled data control. Due to the limited data sensing and communication, in many practical situations, only sampled data are…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
This paper investigates the distributed model predictive control for an asynchronous nonlinear multi-agent system with external interference via a self-triggered generator and a prediction horizon regulator. First, a shrinking constraint…