Related papers: Scalable Distributed Nonlinear Control Under Flatn…
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…
Willems et al. showed that all input-output trajectories of a discrete-time linear time-invariant system can be obtained using linear combinations of time shifts of a single, persistently exciting, input-output trajectory of that system. In…
This paper investigates the problem of distributed nonblocking supervisory control for timed discrete-event systems (DESs). The distributed supervisors communicate with each other over networks subject to nondeterministic communication…
We propose a financial liquidity policy sharing method for firm-to-firm supply networks, introducing a scalable autonomous control function for viable complex adaptive supply networks. Cooperation and competition in supply chains is…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
Backward reachability (also termed controllability) has been extensively studied in control theory, and tools for a wide class of systems have been developed. Nevertheless, assessing a backward reachability analysis or synthesis remains…
Consider the macroscale modelling of microscale spatiotemporal dynamics. Here we develop a new approach to ensure coarse scale discrete models preserve important self-adjoint properties of the fine scale dynamics. The first part explores…
In this paper, we utilize event-triggered coupling configuration to realize synchronization of linearly coupled dynamical systems. Here, the diffusion couplings are set up from the latest observations of the nodes of its neighborhood and…
We consider a distributed non cooperative control setting in which systems are interconnected via state constraints. Each of these systems is governed by an agent which is responsible for exchanging information with its neighbours and…
A system of coupled oscillators on an arbitrary graph is locally driven by the tendency to mutual synchronization between nearby oscillators, but can and often exhibit nonlinear behavior on the whole graph. Understanding such nonlinear…
We prove that every flat nonlinear discrete-time system can be decomposed by coordinate transformations into a smaller-dimensional subsystem and an endogenous dynamic feedback. For flat continuous-time systems, no comparable result is…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a…
Control of network systems with uncertain local dynamics has remained an open problem for a long time. In this paper, a distributed minimax adaptive control algorithm is proposed for such networks whose local dynamics has an uncertain…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
In this paper, we develop a modular design method of decentralized controllers for linear dynamical network systems, where multiple subcontroller designers aim at individually regulating their local control performance with accessibility…
We present a general control-theoretic framework for constructing and analyzing random decoupling schemes, applicable to quantum dynamical control of arbitrary finite-dimensional composite systems. The basic idea is to design the control…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
This work investigates a reduced-complexity adaptive methodology to consensus tracking for a team of uncertain high-order nonlinear systems with switched (possibly asynchronous) dynamics. It is well known that high-order nonlinear systems…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…