Related papers: Faster Consensus via a Sparser Controller
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…
We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the usual formulations ($\Htwo,\Hinf,\LQR$) and previous works…
We design sparse and block sparse feedback gains that minimize the variance amplification (i.e., the $H_2$ norm) of distributed systems. Our approach consists of two steps. First, we identify sparsity patterns of feedback gains by…
This paper analyzes the throughput of industrial communication networks under a secrecy constraint. The proposed scenario is composed by sensors that measure some relevant information of the plant that is first processed by aggregator node…
We show that when the speed of control is bounded, there is a widely applicable minimal-time control problem for which a coherent feedback protocol is optimal, and is faster than all measurement-based feedback protocols, where the latter…
This article aims to improve the performance of networked multi-agent systems, which are common representations of cyber-physical systems. The rate of convergence to consensus of multi-agent networks is critical to ensure cohesive, rapid…
We consider the joint design of packet forwarding policies and controllers for wireless control loops where sensor measurements are sent to the controller over an unreliable and energy-constrained multi-hop wireless network. For fixed…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
This paper studies a consensus protocol over a group of agents driven by second order dynamics. The communication among members of the group is assumed to be directed and affected by two rationally independent time delays, one in the…
This work presents the solution to a class of decentralized linear quadratic state-feedback control problems, in which the plant and controller must satisfy the same combination of delay and sparsity constraints. Using a novel decomposition…
This article treats three problems of sparse and optimal multiplexing a finite ensemble of linear control systems. Given an ensemble of linear control systems, multiplexing of the controllers consists of an algorithm that selects, at each…
This paper considers a half-duplex scenario where an interferer behaves according to a parametric model but the values of the model parameters are unknown. We explore the necessary number of sensing steps to gather sufficient knowledge…
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of…
Work on the development of optimal fault-tolerant Agreement protocols using the logic of knowledge has concentrated on the "full information" approach to information exchange, which is costly with respect to message size. Alpturer, Halpern,…
Synthesizing optimal controllers for dynamical systems often involves solving optimization problems with hard real-time constraints. These constraints determine the class of numerical methods that can be applied: computationally expensive…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
This paper presents a consensus protocol that achieves max-consensus in multi-agent systems over wireless channels. Interference, a feature of the wireless channel, is exploited: each agent receives a superposition of broadcast data, rather…
The $n$-step delayed sharing information structure is investigated. This information structure comprises of $K$ controllers that share their information with a delay of $n$ time steps. This information structure is a link between the…
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each…