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We introduce logical synchrony, a framework that allows distributed computing to be coordinated as tightly as in synchronous systems without the distribution of a global clock or any reference to universal time. We develop a model of events…
This paper presents the first hardware implementation of bittide, a decentralized clock synchronization mechanism for achieving logical synchrony in distributed systems. We detail the design and implementation of an 8-node bittide network…
This paper is concerned with H2 control of discrete-time linear systems with dynamics determined by an independent and identically distributed (i.i.d.) process. A definition of H2 norm is first discussed for the class of systems. Then, a…
This paper studies the distributed L2-gain control problem for continuous-time large-scale systems under Round-Robin communication protocol. In this protocol, each sub-controller obtains its own subsystem's state information continuously,…
This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints. Using Q-parameterization and a polytope containment method, we prove that…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
We discuss distributed reframing control of bittide systems. In a bittide system, multiple processors synchronize by monitoring communication over the network. The processors remain in logical synchrony by controlling the timing of frame…
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…
In this paper, the synchronizability problem of dynamical networks is addressed, where better synchronizability means that the network synchronizes faster with lower-overshoot. The L2 norm of the error vector e is taken as a performance…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
We consider distributed control of double-integrator networks, where agents are subject to stochastic disturbances. We study performance of such networks in terms of coherence, defined through an H2 norm metric that represents the variance…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
The bittide mechanism enables logically synchronous computation across distributed systems by leveraging the continuous frame transmission inherent to wired networks such as Ethernet. Instead of relying on a global clock, bittide uses a…
Synchronization of coupled continuous-time linear systems is studied in a general setting. For identical neutrally-stable linear systems that are detectable from their outputs, it is shown that a linear output feedback law exists under…
A basic result in synchronization of linear systems via output coupling is presented. For identical discrete-time linear systems that are detectable from their outputs and neutrally stable, it is shown that a linear output feedback law…
We study performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of how the performance of distributed integral control is affected by measurement noise. We…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
Synchronization control of coupled continuous-time linear systems is studied. For identical systems that are stabilizable, a linear feedback law obtained via algebraic Riccati equation is shown to synchronize any fixed directed network of…
The paper investigates the synchronization of a network of identical linear state-space models under a possibly time-varying and directed interconnection structure. The main result is the construction of a dynamic output feedback coupling…