Related papers: Faster Consensus via a Sparser Controller
Designing distributed, fast and reliable wireless consensus protocols is instrumental in enabling mission-critical decentralized systems, such as robotic networks in the industrial Internet of Things (IIoT), drone swarms in rescue missions,…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
Vehicle platooning using connected and automated vehicles (CAVs) has attracted considerable attention. In this paper, we address the problem of optimal coordination of CAV platoons at a highway on-ramp merging. We present a single-level…
Consensus conditions and convergence speeds are crucial for distributed consensus algorithms of networked systems. Based on a basic first-order average-consensus protocol with time-varying topologies and additive noises, this paper first…
TCP and its variants have suffered from surprisingly poor performance for decades. We argue the TCP family has little hope to achieve consistent high performance due to a fundamental architectural deficiency: hardwiring packet-level events…
Inter-area oscillations in bulk power systems are typically poorly controllable by means of local decentralized control. Recent research efforts have been aimed at developing wide- area control strategies that involve communication of…
Reaction-diffusion systems offer a powerful framework for understanding self-organized patterns in biological systems, yet controlling these patterns remains a significant challenge. As a consequence, we present a rigorous framework of…
We study an optimal control problem aimed at achieving a desired tradeoff between the network coherence and communication requirements in the distributed controller. Our objective is to add a certain number of edges to an undirected…
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…
The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
We show that designing sparse $H_\infty$ controllers, in a discrete (LTI) setting, is easy when the controller is assumed to be an FIR filter. In this case, the problem reduces to a static output feedback problem with equality constraints.…
This paper studies how to design a platform to optimally control constrained multi-agent systems with a single coordinator and multiple strategic agents. In our setting, the agents cannot apply control inputs and only the coordinator…
This paper regards coordination of networked systems, which is studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy.…
The inevitable random frequency differences among semiconductor lasers present an obstacle to achieving their collective coherence, but previous worked showed that fully (all-to-all) coupled networks can still be synchronized even in the…
This paper studies the fastest distributed consensus averaging problem on branches of an arbitrary connected sensor network. In the previous works full knowledge about the sensor network's connectivity topology was required for determining…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
The focus of this paper is on the co-design of control and communication protocol for the control of multiple applications with unknown parameters using a distributed embedded system. The co-design consists of an adaptive switching…
Closed-loop or feedback control ratchets use information about the state of the system to operate with the aim of maximizing the performance of the system. In this paper we investigate the effects of a time delay in the feedback for a…
Cross-correlation is a popular signal processing technique used in numerous location tracking systems for obtaining reliable range information. However, its efficient design and practical implementation has not yet been achieved on mote…