Related papers: Minimal Actuator Selection
Controllability and observability have long been recognized as fundamental structural properties of dynamical systems, but have recently seen renewed interest in the context of large, complex networks of dynamical systems. A basic problem…
Soft robotics is an attractive and rapidly emerging field, in which actuation is coupled with the elastic response of the robot's structure to achieve complex deformation patterns. A crucial challenge is the need for multiple control…
Consider the problem of covertly controlling a linear system. In this problem, Alice desires to control (stabilize or change the parameters of) a linear system, while keeping an observer, Willie, unable to decide if the system is indeed…
The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…
We address the problem of computing a Minimal Dominating Set in highly dynamic distributed systems. We assume weak connectivity, i.e., the network may be disconnected at each time instant and topological changes are unpredictable. We make…
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…
The study of multiplicative noise models has a long history in control theory but is re-emerging in the context of complex networked systems and systems with learning-based control. We consider linear system identification with…
The notion of strong structural controllability (s-controllability) allows for determining controllability properties of large linear time-invariant systems even when numerical values of the system parameters are not known a priori. The…
Optimal control of bilinear systems has been a well-studied subject in the area of mathematical control. However, techniques for solving emerging optimal control problems involving an ensemble of structurally identical bilinear systems are…
Matrix analysis plays a crucial role in the field of control engineering, providing a powerful mathematical framework for the analysis and design of control systems. This research report explores various applications of matrix analysis in…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
Minimum vertex cover problem is an NP-Hard problem with the aim of finding minimum number of vertices to cover graph. In this paper, a learning automaton based algorithm is proposed to find minimum vertex cover in graph. In the proposed…
Several theorems on the volume computing of the polyhedron spanned by a n-dimensional vector set with the finite-interval parameters are presented and proved firstly, and then are used in the analysis of the controllable regions of the…
Mixed integer predictive control deals with optimizing integer and real control variables over a receding horizon. The mixed integer nature of controls might be a cause of intractability for instances of larger dimensions. To tackle this…
In this article we present a new multigrid preconditioner for the linear systems arising in the semismooth Newton method solution of certain control-constrained, quadratic distributed optimal control problems. Using a piecewise constant…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
This paper studies the robustness of observability of a linear time-invariant system under sensor failures from a computational perspective. To be precise, the problem of determining the minimum number of sensors whose removal can destroy…
This paper studies the problem of modifying the input matrix of a structured system to make the system strongly structurally controllable. We focus on the generalized structured systems that rely on zero/nonzero/arbitrary structure, i.e.,…
We consider the time-varying actuator placement in continuous time, where the goal is to maximize the trace of the controllability Grammian. A natural relaxation of the problem is to allow the binary $\{0,1\}$ variable indicating whether an…
We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…