Related papers: Efficient two-dimensional control of barrier cross…
We study the evolution of locally optimal decentralized controllers with the damping of the control system. Empirically it is shown that even for instances with an exponential number of connected components, damping merges all local…
We consider the problem of guaranteeing that the transient voltages and currents stay within prescribed bounds in Direct Current (DC) microgrids, when the controller does not have access to accurate system dynamics due to the load being…
In this letter, we present a constraint-driven optimal control framework that achieves emergent cluster flocking within a constrained 2D environment. We formulate a decentralized optimal control problem that includes safety, flocking, and…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the…
A bottleneck can largely deteriorate the flow, such as a traffic light or an on-ramp at a road. To alleviate bottleneck situations, one of the important strategies is to control the input rate to suit the state of the road. In this study,…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Roundabouts in conjunction with other traffic scenarios, e.g., intersections, merging roadways, speed reduction zones, can induce congestion in a transportation network due to driver responses to various disturbances. Research efforts have…
As link speeds increase in datacenter networks, existing congestion control algorithms become less effective in providing fast convergence. TCP-based algorithms that probe for bandwidth take a long time to reach the fair-share and lead to…
Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…
As the speed and the dynamic range of computer networks evolve, the issue of efficient traffic management becomes increasingly important. This work describes an approach to traffic management using explicit rate information provided to the…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
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…
Leveraging connections between diffusion-based sampling, optimal transport, and stochastic optimal control through their shared links to the Schr\"odinger bridge problem, we propose novel objective functions that can be used to transport…
We introduce a problem in which a service vehicle seeks to guard a deadline (boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on…
We provide a generic scheme offering real time control of directed particle transport in superimposed driven lattices. This scheme allows to accelerate, slow and freeze the transport on demand, by switching one of the lattices subsequently…
We derive a monotonicity property for general, transient flows of a commodity transferred throughout a network, where the flow is characterized by density and mass flux dynamics on the edges with density continuity and mass balance…
The ability to accurately control a quantum system is a fundamental requirement in many areas of modern science such as quantum information processing and the coherent manipulation of molecular systems. It is usually necessary to realize…
Distributed secondary control plays an important role in DC microgrids, since it ensures system control objectives, which are power sharing and DC bus voltage stability. Previous studies have suggested using a control architecture that…