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This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…
A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…
Computer Aided Control System Design (CACSD) allows to analyze complex interconnected systems and design controllers achieving challenging control requirements. We extend CACSD to systems with time delays and illustrate the functionality of…
Previous work showed that the collective activity of large neuronal networks can be tamed to remain near its critical point by a feedback control that maximizes the temporal correlations of the mean-field fluctuations. Since such…
Coordinating a high number of flexibility providing units (e.g. to provide ancillary services for the transmission system) across various grid layers requires new control concepts. A flexibility request at a point of common coupling can be…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
We consider the problem of designing control protocols for nonlinear network systems affected by heterogeneous, time-varying delays and disturbances. For these networks, the goal is to reject polynomial disturbances affecting the agents and…
We present a control method based on two steps: prediction and prevention. For prediction we use the anticipated synchronization scheme, considering unidirectional coupling between excitable systems in a master-slave configuration. The…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…
Recently, multi-instrument music generation has become a hot topic. Different from single-instrument generation, multi-instrument generation needs to consider inter-track harmony besides intra-track coherence. This is usually achieved by…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
This paper is concerned with the problem of distributed estimation for time-varying interconnected dynamic systems with arbitrary coupling structures. To guarantee the robustness of the designed estimators, novel distributed stability…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and…
To promote structurally flexible controllers in self-adaptive software systems, this paper proposes the use of micro-controllers. Instead of generic monolithic controllers, like Rainbow, we advocate the use of service-specific…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we investigate the controller design problem for linear disturbed systems under signal temporal logic (STL) specifications imposing both spatial and temporal constraints on system behavior. We first implement zonotope-based…
On the basis of recent work by Cardin and Teixeira on ordinary differential equations with more than two time scales, we devise a coordinate-independent reduction for systems with three time scales; thus no a priori separation of variables…