Related papers: Near-Optimal Distributed Linear-Quadratic Regulato…
Designing distributed optimal controllers subject to communication constraints is a difficult problem unless structural assumptions are imposed on the underlying dynamics and information exchange structure, e.g., sparsity, delay, or spatial…
We consider a decentralized optimal control problem for a linear plant controlled by two controllers, a local controller and a remote controller. The local controller directly observes the state of the plant and can inform the remote…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
An unconstrained optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller. Parameters that admit a completely decentralized optimal…
This paper develops a novel approach to the consensus problem of multi-agent systems by minimizing a weighted state error with neighbor agents via linear quadratic (LQ) optimal control theory. Existing consensus control algorithms only…
In this work, we present a distributed framework based on the graph algorithm for computing control invariant set for nonlinear cascade systems. The proposed algorithm exploits the structure of the interconnections within a process network.…
In this paper we study the controllability of networked systems with static network topologies using tools from algebraic graph theory. Each agent in the network acts in a decentralized fashion by updating its state in accordance with a…
In this note, a novel observer-based output feedback control approach is proposed to address the distributed optimal output consensus problem of uncertain nonlinear multi-agent systems in the normal form over unbalanced directed graphs. The…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
We study optimal distributed first-order optimization algorithms when the network (i.e., communication constraints between the agents) changes with time. This problem is motivated by scenarios where agents experience network malfunctions.…
In this paper, we investigate optimal control of network-coupled subsystems where the dynamics and the cost couplings depend on an underlying undirected weighted graph. The graph coupling matrix in the dynamics may be the adjacency matrix,…
In this paper, a decentralized stochastic control system consisting of one leader and many homogeneous followers is studied. The leader and followers are coupled in both dynamics and cost, where the dynamics are linear and the cost function…
Dynamical systems comprised of autonomous agents arise in many relevant problems such as multi-agent robotics, smart grids, or smart cities. Controlling these systems is of paramount importance to guarantee a successful deployment. Optimal…
In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
Cooperative decision making is a vision of future network management and control. Distributed connection preemption is an important example where nodes can make intelligent decisions on allocating resources and controlling traffic flows for…
Online feedback optimization is a controller design paradigm for optimizing the steady-state behavior of a dynamical system. It employs an optimization algorithm as a dynamic feedback controller and utilizes real-time measurements to bypass…
We consider the problem of finding distributed controllers for large networks of mobile robots with interacting dynamics and sparsely available communications. Our approach is to learn local controllers that require only local information…
In this work we consider a flow network for which the goal is to solve a practical optimal regulation problem in the presence of input saturation. Based on Lyapunov arguments we propose distributed controllers which guarantee global…