Related papers: Consensus-Based Multi-Objective Controller Synthes…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback controllers with reduced online communication. The contributions…
The emergence of large-scale multi-agent systems has led to controller synthesis methods for sparse communication between agents. However, most sparse controller synthesis algorithms remain centralized, requiring information exchange and…
We consider the problem of designing distributed controllers to guarantee dissipativity of a networked system comprised of dynamically coupled subsystems. We require that the control synthesis is carried out locally at the subsystem-level,…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
We propose Teamwork Synthesis, a version of the distributed synthesis problem with application to teamwork multi-agent systems. We reformulate the distributed synthesis question by dropping the fixed interaction architecture among agents as…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
This paper develops a general framework for multi-agent control synthesis, which applies to a wide range of problems with convergence guarantees, including those with time-varying objective functions. The proposed framework achieves…
Controller synthesis is a theoretical approach to the systematic design of discrete event systems. It constructs a controller to provide feedback and control to the system, ensuring it meets specified control specifications. Traditional…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as…
This manuscript discusses a scalable controller synthesis method for networked systems with a large number of identical subsystems based on the H-infinity control framework. The dynamics of the individual subsystems are described by…
Design of optimal distributed linear feedback controllers to achieve a desired aggregate behavior, while simultaneously satisfying state and input constraints, is a challenging but important problem in many applications. System level…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is to achieve dissipativity with respect to a given quadratic supply rate or a given $H_2$…
In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…
This paper investigates the distributed optimal output consensus problem of heterogeneous linear multi-agent systems over weight-unbalanced directed networks. A novel distributed continuous-time state feedback controller is proposed to…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…