Related papers: Distributed Synthesis of Gray-Box Distributed H2 C…
This paper deals with a distributed implementation of minimax adaptive control algorithm for networked dynamical systems modeled by a finite set of linear models. To hedge against the uncertainty arising out of finite number of possible…
We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
Cooperative control is crucial for the effective operation of dynamical multi-agent systems. Especially for distributed control schemes, it is essential to exchange data between the agents. This becomes a privacy threat if the data is…
By using dissipativity approach, we establish the stability condition for the feedback connection of a deterministic dynamical system $\Sigma$ and a stochastic memoryless map $\Psi$. After that, we extend the result to the class of large…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
This paper addresses the distributed attitude synchronization problem of multiple spacecraft with unknown inertia matrices. Two distributed adaptive controllers are proposed for the cases with and without a virtual leader to which a…
A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale…
The conventional approach for the control of distribution networks, in the presence of active generation and/or controllable loads and storage, involves a combination of both frequency and voltage regulation at different time scales. With…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
In this paper, we design nonlinear state feedback controllers for discrete-time polynomial dynamical systems via the occupation measure approach. We propose the discrete-time controlled Liouville equation, and use it to formulate the…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
In this paper, a data-driven approach is developed for controller design for a class of discrete-time large-scale systems, where a large-scale system can be expressed in an equivalent data-driven form and the decentralized controllers can…
A distributed binary hypothesis testing (HT) problem involving two parties, one referred to as the observer and the other as the detector is studied. The observer observes a discrete memoryless source (DMS) and communicates its observations…
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems.…
We introduce a framework for the control of discrete-time switched stochastic systems with uncertain distributions. In particular, we consider stochastic dynamics with additive noise whose distribution lies in an ambiguity set of…
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…
This paper studies the co-design of actuators, sensors, and communication in the distributed setting, where a networked plant is partitioned into subsystems each equipped with a sub-controller interacting with other sub-controllers. The…