Related papers: Layered Multirate Control of Constrained Linear Sy…

A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…

This paper is concerned with the problem of designing distributed control protocols for network systems affected by delays and disturbances consisting of a first-order polynomial component and a residual signal. Specifically, we propose the…

This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…

This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…

This paper considers power networks governed by swing nonlinear dynamics and subject to disturbances. We develop a bilayered control strategy for a subset of buses that simultaneously guarantees transient frequency safety of each individual…

Linear control theory is used to develop an improved localized control scheme for spatially extended chaotic systems, which is applied to a Coupled Map Lattice as an example. The optimal arrangement of the control sites is shown to depend…

We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

A classical approach to design controllers for interconnected systems is to assume that the different subsystems operate at different time scales, then design simpler controllers within each time scale, and finally certify stability of the…

We consider the problem of designing distributed controllers to ensure passivity of a large-scale interconnection of linear subsystems connected in a cascade topology. The control design process needs to be carried out at the…

The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are…

This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…

In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…

A cross-layer design along with an optimal resource allocation framework is formulated for wireless fading networks, where the nodes are allowed to perform network coding. The aim is to jointly optimize end-to-end transport layer rates,…

Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…

The next generation of high-power lasers enables repetition of experiments at orders of magnitude higher frequency than was possible using the prior generation. Facilities requiring human intervention between laser repetitions need to adapt…

We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…

Planning and control for autonomous vehicles usually are hierarchical separated. However, increasing performance demands and operating in highly dynamic environments requires an frequent re-evaluation of the planning and tight integration…

This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…

In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed…