Related papers: Consensus-Based Multi-Objective Controller Synthes…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…
This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
We study the problem of control synthesis for multi-agent systems, to achieve complex, high-level, long-term goals that are assigned to each agent individually. As the agents might not be capable of satisfying their respective goals by…
Recent global and local phenomena have exposed vulnerabilities in critical supply chain networks (SCNs), drawing significant attention from researchers across various fields. Typically, SCNs are viewed as static entities regularly optimized…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
System level synthesis is a promising approach that formulates structured optimal controller synthesis problems as convex problems. This work solves the distributed linear-quadratic regulator problem under communication constraints directly…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
We consider the problem of designing distributed controllers to ensure passivity of a large-scale interconnection of linear subsystems connected in a cascade topology. The control design process needs to be carried out at the…
This paper presents an automatic formal controller synthesis method for nonlinear sampled-data systems with safety and reachability specifications. Fundamentally, the presented method is not restricted to polynomial systems and controllers.…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topology and achieve high performance and robustness. This work…
We consider the problem of distributing a control policy across a network of interconnected units. Distributing controllers in this way has a number of potential advantages, especially in terms of robustness, as the failure of a single unit…
We propose a distributed model predictive control (MPC) framework for coordinating heterogeneous, nonlinear multi-agent systems under individual and coupling constraints. The cooperative task is encoded as a shared objective function…
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and…
In this paper, we study consensus problem in multi-agent system with directed topology by event-triggered feedback control. That is, at each agent, the diffusion coupling feedbacks are based on the information from its latest observations…
This paper investigates a passivity-based approach to output consensus analysis in heterogeneous networks composed of non-identical agents coupled via nonlinear interactions, in the presence of measurement and/or communication noise.…
We present new conditions to obtain synchronization and consensus patterns in complex network systems. The key idea is to exploit symmetries of the nodes' vector fields to induce a desired synchronization/consensus pattern, where nodes are…
This brief addresses the distributed consensus problem of nonlinear multi-agent systems under a general directed communication topology. Each agent is governed by higher-order dynamics with mismatched uncertainties, multiple completely…
This paper considers an internal model based distributed control approach to the cooperative output regulation problem of heterogeneous linear time-invariant multiagent systems over fixed directed communication graph topologies. First, a…