Related papers: Distributed Stability Certification and Control fr…
We address the problem of designing an LQR controller in a distributed setting, where M similar but not identical systems share their locally computed policy gradient (PG) estimates with a server that aggregates the estimates and computes a…
In many computational tasks and dynamical systems, asynchrony and randomization are naturally present and have been considered as ways to increase the speed and reduce the cost of computation while compromising the accuracy and convergence…
This paper studies the problem of verifying dissipativity of linear time-invariant (LTI) systems using input-output data. We leverage behavioral systems theory to express dissipativity in terms of quadratic difference forms (QDFs), allowing…
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…
This paper proposes a new Linear Matrix Inequality (LMI) for static output feedback control assuming that a Linear Quadratic Regulator (LQR) has been previously designed for the system. The main idea is to use a quadratic candidate Lyapunov…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
In this work, we develop a scalable, local trajectory optimization algorithm that enables robots to interact with other robots. It has been shown that agents' interactions can be successfully captured in game-theoretic formulations, where…
In this paper, we study the simultaneous stability problem of a finite number of locally inter-connected linear subsystems under practical constraints, including asynchronous and aperiodic sampling, time-varying delays, and measurement…
In this technical communique, we generalize the well-known Lyapunov-based stabilizability and detectability tests for discrete-time linear time-invariant systems to polytopic linear parameter-varying systems using the class of so-called…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
The increasing penetration of converter-based renewable generation has resulted in faster frequency dynamics, and low and variable inertia. As a result, there is a need for frequency control methods that are able to stabilize a disturbance…
Performance analysis for linear time-invariant (LTI) systems has been closely tied to quadratic Lyapunov functions ever since it was shown that LTI system stability is equivalent to the existence of such a Lyapunov function. Some metrics…
Linear Quadratic Regulator (LQR) design is one of the most classical optimal control problems, whose well-known solution is an input sequence expressed as a state-feedback. In this work, finite-horizon and discrete-time LQR is solved under…
A finite horizon linear quadratic(LQ) optimal control problem is studied for a class of discrete-time linear fractional systems (LFSs) affected by multiplicative, independent random perturbations. Based on the dynamic programming technique,…
This paper proposes a novel approach to design reduced-order distributed consensus controllers for multi-agent systems (MASs) with identical linear dynamics of agents. A new model namely edge dynamics representing the differences on agents'…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
In this paper, we investigate the distributed load frequency control problem in a multi-area smart grid under external load disturbances and measurement noise. The novelty lies in that the information privacy is fully taken into account,…
Real-time remote estimation is critical for mission-critical applications including industrial automation, smart grid and tactile Internet. In this paper, we propose a hybrid automatic repeat request (HARQ)-based real-time remote estimation…
In this paper, we investigate the distributed optimal control problem for a kind of nonlinear multi-agent systems. In particular,both the state and the system dynamic structures of each agent are private and can only be shared among…