Related papers: On PI-control in Capacity-Limited Networks

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…

This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…

An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…

This paper studies the trade-off between the degree of decentralization and the performance of a distributed controller in a linear-quadratic control setting. We study a system of interconnected agents over a graph and a distributed…

Across smart-grid and smart-city application domains, there are many problems where an ensemble of agents is to be controlled such that both the aggregate behaviour and individual-level perception of the system's performance are acceptable.…

Although multi-agent reinforcement learning can tackle systems of strategically interacting entities, it currently fails in scalability and lacks rigorous convergence guarantees. Crucially, learning in multi-agent systems can become…

The growing integration of renewable energy sources into distribution networks poses significant challenges to frequency and voltage stability due to their intermittent nature and low-inertia dynamics. This paper proposes a multilevel…

In this paper, we consider the coordination control of a group of autonomous mobile agents with multiple leaders. Different interconnection topologies are investigated. At first, a necessary and sufficient condition is proved in the case of…

The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…

This paper presents a novel control strategy for the coordination of a multi-agent system subject to high-level goals expressed as linear temporal logic formulas. In particular, each agent, which is modeled as a sphere with 2nd order…

The problem of modeling and control of multi-terminal high-voltage direct-current transmission systems is addressed in this paper, which contains five main contributions. First, to propose a unified, physically motivated, modeling framework…

To deploy safe and agile robots in cluttered environments, there is a need to develop fully decentralized controllers that guarantee safety, respect actuation limits, prevent deadlocks, and scale to thousands of agents. Current approaches…

The paper addresses the synchronization of multi-agent systems with continuous-time dynamics interacting through a very general class of monotonic continuous signal functions that covers estimation biases, approximation of discrete…

In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, when some of them…

A crucial challenge in decentralized systems is state estimation in the presence of unknown inputs, particularly within heterogeneous sensor networks with dynamic topologies. While numerous consensus algorithms have been introduced, they…

Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…

Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller which guarantees stability, in spite of…

This paper investigates transient performance of inverter-based microgrids in terms of the resistive power losses incurred in regulating frequency under persistent stochastic disturbances. We model the inverters as second-order oscillators…