Related papers: Local Controls for Large Assemblies of Nonlinear E…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
Mathematical models are fundamental building blocks in the design of dynamical control systems. As control systems are becoming increasingly complex and networked, approaches for obtaining such models based on first principles reach their…
Motivated by large-scale but computationally constrained settings, e.g., the Internet of Things, we present a novel data-driven distributed control algorithm that is synthesized directly from trajectory data. Our method, data-driven…
Existing methods for nonlinear robust control often use scenario-based approaches to formulate the control problem as nonlinear optimization problems. Increasing the number of scenarios improves robustness, while increasing the size of the…
Programmable Logic Controllers (PLCs) are widely used in industrial automation to control physical systems. As PLC applications become increasingly complex, ensuring their correctness is crucial. Existing formal verification techniques…
In this work we consider a flow network for which the goal is to solve a practical optimal regulation problem in the presence of input saturation. Based on Lyapunov arguments we propose distributed controllers which guarantee global…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
Reachable sets of nonlinear control systems can in general only be approximated numerically, and these approximations are typically very expensive to compute. In this paper, we explore a strategy for choosing the temporal and spatial…
We consider large but finite systems of identical agents on the line with up to next nearest neighbor asymmetric coupling. Each agent is modelled by a linear second order differential equation, linearly coupled to up to four of its…
A network of locally interacting agents can be thought of as performing a distributed computation. But not all computations can be faithfully distributed. This paper investigates which global, linear transformations can be computed using…
In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…
In this paper, we adopt results in nonlinear time series analysis for causal inference in dynamical settings.~Our motivation is policy analysis with panel data, particularly through the use of "synthetic control" methods. These methods…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
We extend the approach in [Ann. Statist. 38 (2010) 2499-2524] for identifying locally optimal designs for nonlinear models. Conceptually the extension is relatively simple, but the consequences in terms of applications are profound. As we…
Our ability to control network dynamical systems is often hindered by constraints on the number and nature of the available control actions, which make controlling the whole network unfeasible. In this manuscript, we focus on the case where…
A general method for extending a non-dissipative nonlinear Schr\"odinger and Liouville-von Neumann 1-particle dynamics to an arbitrary number of particles is described. It is shown at a general level that the dynamics so obtained is…
We find a minimal set of necessary and sufficient conditions for the existence of a local procedure that converts a finite pure state into one of a set of possible final states. This result provides a powerful method for obtaining optimal…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…