Related papers: Distributed and Constrained $ \mathcal{H}_2 $ Cont…
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…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
We consider the framework of convex high dimensional stochastic control problems, in which the controls are aggregated in the cost function. As first contribution, we introduce a modified problem, whose optimal control is under some…
Classic distributed control problems have an interesting dichotomy: they are either trivial or undecidable. If we allow the controllers to fully synchronize, then synthesis is trivial. In this case, controllers can effectively act as a…
This work introduces a controller synthesis method via system level synthesis for nonlinear systems characterized by polynomial dynamics. The resulting framework yields finite impulse response, time-invariant, closed-loop transfer functions…
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constraints. The proposed…
The distributed synthesis problem is about constructing cor- rect distributed systems, i.e., systems that satisfy a given specification. We consider a slightly more general problem of distributed control, where the goal is to restrict the…
We propose a novel frequency control approach in between centralized and distributed architectures, that is a continuous-time feedback control version of the dual decomposition optimization method. Specifically, a convex combination of the…
This letter presents a framework for synthesizing a robust full-state feedback controller for systems with unknown nonlinearities. Our approach characterizes input-output behavior of the nonlinearities in terms of local norm bounds using…
This paper deals with distributed control of microgrids composed of storages, generators, renewable energy sources, critical and controllable loads. We consider a stochastic formulation of the optimal control problem associated to the…
The optimal controller design problem for a linear, first-order spatially-invariant distributed parameter system is considered. Through a case study of the Linear Quadratic Regulator (LQR) problem for the diffusion equation over the torus,…
Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
In this paper, the problem of synthesizing a distributed controller from data is considered, with the objective to optimize a model-reference control criterion. We establish an explicit ideal distributed controller that solves the…
Given a set of interacting components with non-deterministic variable update and given safety requirements, the goal of priority synthesis is to restrict, by means of priorities, the set of possible interactions in such a way as to…
We consider the distributed control synthesis problem for systems with locks. The goal is to find local controllers so that the global system does not deadlock. With no restriction this problem is undecidable even for three processes each…
This paper proposes a novel method for distributed controller synthesis of homogeneous interconnected systems consisting of identical subsystems. The objective of the designed controller is to minimize the L2-gain of the performance…
This paper develops a controller synthesis method for distributed LQG control problems under output-feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While the…
This paper studies efficient distributed optimization methods for multi-agent networks. Specifically, we consider a convex optimization problem with a globally coupled linear equality constraint and local polyhedra constraints, and develop…