Related papers: Distributed Bearing-based Formation Control and Ne…
Dynamical networks with time delays can pose a considerable challenge for mathematical analysis. Here, we extend the approach of generalized modeling to investigate the stability of large networks of delay-coupled delay oscillators. When…
Most of today's distributed machine learning systems assume {\em reliable networks}: whenever two machines exchange information (e.g., gradients or models), the network should guarantee the delivery of the message. At the same time, recent…
We introduce and solve a general model of dynamic response under external perturbations. This model captures a wide range of systems out of equilibrium including Ising models of physical systems, social opinions, and population genetics.…
This paper presents a deep learning based model predictive control algorithm for control affine nonlinear discrete time systems with matched and bounded state dependent uncertainties of unknown structure. Since the structure of…
A new method for the stability assessment of inverter-based microgrids is presented in this paper. Directly determining stability boundaries by searching the multidimensional space of inverters' droop gains is a computationally prohibitive…
In this paper, we present a method to analyze local and global stability in offset-free setpoint tracking using neural network controllers and we provide ellipsoidal inner approximations of the corresponding region of attraction. We…
This paper studies the stability and dynamic control of underlay mobile edge networks. First, the stability region for a multiuser edge network is obtained under the assumption of full channel state information. This result provides a…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
This work provides a design method for achieving a specified level of stability for inverter-based interconnected distributed generation. The stability of parallel connected distributed energy resources determined from a linearized…
We study stability patterns in the high dimensional rational homology of unordered configuration spaces of manifolds. Our results follow from a general approach to stability phenomena in the homology of Lie algebras, which may be of…
This paper addresses the boundary stabilization of a flexible wing model, both in bending and twisting displacements, under unsteady aerodynamic loads, and in presence of a store. The wing dynamics is captured by a distributed parameter…
We study the vulnerability of dominating sets against random and targeted node removals in complex networks. While small, cost-efficient dominating sets play a significant role in controllability and observability of these networks, a fixed…
Diffusion-driven instability is a fundamental mechanism underlying pattern formation in spatially extended systems. In almost all existing works, diffusion across the links of the underlying network is modeled through scalar weights,…
Mobility causes network structures to change. In PSNs where underlying network structure is changing rapidly, we are interested in studying how information dissemination can be enhanced in a sparse disconnected network where nodes lack the…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…
In this paper, we propose a novel and distributed formation control method for autonomous robots to follow the desired formation while tracking a moving target in dynamic environments. In our approach, the desired formations, which include…
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…