Related papers: Minimal Actuator Selection
Given a linear system, we consider the problem of finding a small set of variables to affect with an input so that the resulting system is controllable. We show that this problem is NP-hard; indeed, we show that even approximating the…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
In this paper, we provide optimal solutions to two different (but related) input/output design problems involving large-scale linear dynamical systems, where the cost associated to each directly actuated/measured state variable can take…
This paper addresses optimal feedback selection for generic arbitrary pole placement of structured systems when each feedback edge is associated with a cost. Given a structured system and a feedback cost matrix, our aim is to find a…
Approximate controllability of the Euler equations is investigated by means of a finite set of actuators. It is proven that approximate controllability holds if we can find a saturating subset of actuators. The notion of saturating set is…
We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…
In this work, we consider the controllability of a discrete-time linear dynamical system with sparse control inputs. Sparsity constraints on the input arises naturally in networked systems, where activating each input variable adds to the…
This paper investigates the minimal number of inputs/outputs required to guarantees the controllability/observability of a system, under the condition that its state transition matrix (STM) is prescribed. It has been proved that this…
This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most…
We consider minimal controllability problems (MCPs) on linear structural descriptor systems. We address two problems of determining the minimum number of input nodes such that a descriptor system is structurally controllable. We show that…
Reductions---rules that reduce input size while maintaining the ability to compute an optimal solution---are critical for developing efficient maximum independent set algorithms in both theory and practice. While several simple reductions…
Finding inclusion-minimal "hitting sets" for a given collection of sets is a fundamental combinatorial problem with applications in domains as diverse as Boolean algebra, computational biology, and data mining. Much of the algorithmic…
In optimization routines used for on-line Model Predictive Control (MPC), linear systems of equations are usually solved in each iteration. This is true both for Active Set (AS) methods as well as for Interior Point (IP) methods, and for…
We study an extensive class of movement minimization problems which arise from many practical scenarios but so far have little theoretical study. In general, these problems involve planning the coordinated motion of a collection of agents…
For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection…
In this paper, the controllability and observability of linear multi-agent systems over matrix-weighted signed networks are analyzed. Firstly, the definition of equitable partition of matrix-weighted signed multi-agent system is given, and…
This paper considers the containment control problem for multi-agent systems with general linear dynamics and multiple leaders whose control inputs are possibly nonzero and time varying. Based on the relative states of neighboring agents, a…
Miniaturization of devices inculcates the need for small-sized actuators. Actuators in the size of a few centimeters are not uncommon but miniature devices need ones that are less than a few centimeters in dimension. Market for such…
In the first part of this paper we introduced an algorithm that uses reachable set approximation to approximate the minimum time function of linear control problems. To illustrate the error estimates and to demonstrate differences to other…
In this paper, scalable controller design to achieve output synchronization for a heterogeneous discrete-time nonlinear multi-agent system is considered. The agents are assumed to exhibit potentially nonlinear dynamics but share linear…