Related papers: Protocol selection for second-order consensus agai…
This paper studies model order reduction of multi-agent systems consisting of identical linear passive subsystems, where the interconnection topology is characterized by an undirected weighted graph. Balanced truncation based on a pair of…
In this paper, from the structural perspective, we propose a new stability analysis approach for the consensus of linear multi-agent systems. Different from the general tools: the Laplacian matrix based method and the Lyapunov's method,…
We study the control of a linear dynamical system with adversarial disturbances (as opposed to statistical noise). The objective we consider is one of regret: we desire an online control procedure that can do nearly as well as that of a…
Network traffic model is a critical problem for urban applications, mainly because of its diversity and node density. As wireless sensor network is highly concerned with the development of smart cities, careful consideration to traffic…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
In traditional adaptive control, the certainty equivalence principle suggests a two-step design scheme. A controller is first designed for the ideal situation assuming the uncertain parameter was known and it renders a Lyapunov function.…
This paper studies scale-free protocol design for H2 almost state synchronization of homogeneous networks of non-introspective agents in presence of external disturbances. The necessary and sufficient conditions are provided by designing…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
We consider the problem of two active particles in 2D complex flows with the multi-objective goals of minimizing both the dispersion rate and the energy consumption of the pair. We approach the problem by means of Multi Objective…
In this paper, we consider the $\mathcal{H}_2$-norm of networked systems with multi-time scale consensus dynamics and vector-valued agent states. This allows us to explore how measurement and process noise affect consensus on…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
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…
Many algorithms have been proposed in prior literature to guarantee resilient multi-agent consensus in the presence of adversarial attacks or faults. The majority of prior work present excellent results that focus on discrete-time or…
In this paper, we present an adaptive framework for constructing a pseudo-optimal reduced model for the frequency-limited H2-optimal model order reduction problem. We show that the frequency-limited pseudo-optimal reduced-order model has an…
We consider a swarm of $n$ robots in \mathbb{R}^d. The robots are oblivious, disoriented (no common coordinate system/compass), and have limited visibility (observe other robots up to a constant distance). The basic formation task gathering…
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…
We use the local orthogonal decomposition technique to derive a generalized finite element method for linear and semilinear parabolic equations with spatial multiscale diffusion coefficient. We consider nonsmooth initial data and a backward…
Various congestion control protocols have been designed to achieve high performance in different network environments. Modern online learning solutions that delegate the congestion control actions to a machine cannot properly converge in…
In this paper, we extend the decomposable systems framework to multi-agent systems with Bernoulli distributed packet loss with uniform probability. The proposed sufficient analysis conditions for mean-square stability and $H_2$-performance…
This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…