Related papers: Synthesis and Implementation of Distributed Superv…
We show how a distributed flocking controller can be synthesized using deep learning from a centralized controller which generates the trajectories of the flock. Our approach is based on supervised learning, with the centralized controller…
This paper studies the stability of synchronized states in networks where couplings between nodes are characterized by some distributed time delay, and develops a generalized master stability function approach. Using a generic example of…
This paper deals with the problem of distributed control synthesis. We seek to find structured controllers that are stably realizable over the underlying network. We address the problem using an operator form of discrete-time linear…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
We have introduced a mechanism for synchronizing chaotic systems by one way coupling with a variable delay that is reset at finite intervals. Here we extend this method to time delay systems and suggest a new cryptosystem based on this. We…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
In this paper, we mainly investigate an integrated system operating under a software defined network (SDN) protocol. SDN is a new networking paradigm in which network intelligence is centrally administered and data is communicated via…
Recently we developed partial-observation supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) under partial observation. Its essence is the decomposition of the partial-observation monolithic…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
In this paper we propose and analyze a distributed algorithm for achieving globally optimal decisions, either estimation or detection, through a self-synchronization mechanism among linearly coupled integrators initialized with local…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…
For networks of systems, with possibly improper transfer function matrices, we present a design framework which enables $\mathcal{H}_\infty$ control, while imposing sparsity constraints on the controller's coprime factors. We propose a…
We analyze a classification of two main families of controllers that are of interest when the feedback loop is subject to switching propagation delays due to routing via a wireless multi-hop communication network. We show that we can cast…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
We analyze robust stability, in an input-output sense, of switched stable systems. The primary goal (and contribution) of this paper is to design switching strategies to guarantee that input-output stable systems remain so under switching.…