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This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Coordinating multi-agent systems requires balancing synchronization performance and controller implementation costs. To this end, we classify agents by their intrinsic properties, enabling each group to be controlled by a uniform controller…
In this paper, we extend the results from Jiao et al. (2019) on distributed linear quadratic control for leaderless multi-agent systems to the case of distributed linear quadratic tracking control for leader-follower multi-agent systems.…
This paper studies the distributed L2-gain control problem for continuous-time large-scale systems under Round-Robin communication protocol. In this protocol, each sub-controller obtains its own subsystem's state information continuously,…
In science and engineering, intelligent processing of complex signals such as images, sound or language is often performed by a parameterized hierarchy of nonlinear processing layers, sometimes biologically inspired. Hierarchical systems…
This paper proposes a control strategy for power systems with a two-layer structure that achieves global stabilization and, at the same time, delimits the transient frequencies of targeted buses to a desired safe interval. The first layer…
Distributed stream processing systems are widely deployed to process real-time data generated by various devices, such as sensors and software systems. A key challenge in the system is overloading, which leads to an unstable system status…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
As a research field of stream ciphers, the pursuit of a balance of security and practicality is the focus. The conditions for security usually have to satisfy at least high period and high linear complexity. Because the feedforward…
In this letter we introduce POLARNet -- power control of multi-layer repeater networks -- for local optimization of SNR given different repeater power constraints. We assume relays or repeaters in groups or layers spatially separated. Under…
To design control strategies that predictably manipulate a system's behavior, it is first necessary to understand how the system's structure relates to its response. Many complex systems can be represented as multilayer networks whose…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
Model predictive control (MPC) has been widely used in many fields, often in hierarchical architectures that combine controllers and decision-making layers at different levels. However, when such architectures are cast as bilevel…
In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…
Control of wireless multihop networks, while simultaneously meeting end-to-end mean delay requirements of different flows is a challenging problem. Additionally, distributed computation of control parameters adds to the complexity. Using…
Model order reduction involves constructing a reduced-order approximation of a high-order model while retaining its essential characteristics. This reduced-order model serves as a substitute for the original one in various applications such…
The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
We study language-in-the-loop control for multi-drone systems that execute evolving, high-level missions while retaining formal robustness guarantees at the physical layer. We propose a three-layer architecture in which (i) a human operator…
There is a growing interest in data-driven control of nonlinear systems over the last years. In contrast to related works, this paper takes a step back and aims to solve the output matching problem, a problem closely related to the…