Related papers: Contraction Analysis of Time-Delayed Communication…
Much recent progress has been achieved for stabilization of linear and nonlinear systems with input delays that are long and dependent on either time or the plant state---provided the dependence is known. In this paper we consider the delay…
This paper addresses the challenge of achieving stable adaptive teleoperation and improving the convergence rate in the presence of high communication time delays. We employ a passivity-based formalism to establish stability using wave…
Contraction theory is a recently developed dynamic analysis and nonlinear control system design tool based on an exact differential analysis of convergence. This paper extends contraction theory to local and global stability analysis of…
In this paper, we exploit a diagonally dominant structure for the decentralized stabilization of unknown nonlinear time-delayed networks. To this end, we first introduce a novel generalization of virtual contraction analysis to diagonally…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
In this paper, stability analysis of time delay systems is considered based on decomposition of the systems to subsystems. The decomposition process needs matrices of these systems to be simultaneously block triangularize. We show that a…
We study the stability of unstable steady states in scalar retarded time-delayed systems subjected to a variable-delay feedback control. The important aspect of such a control problem is that time-delayed systems are already…
These notes derive a number of technical results on nonlinear contraction theory, a comparatively recent tool for system stability analysis. In particular, they provide new results on the preservation of contraction through system…
This paper proposes two nonlinear dynamics to solve constrained distributed optimization problem for resource allocation over a multi-agent network. In this setup, coupling constraint refers to resource-demand balance which is preserved at…
Real-time information processing applications such as those enabling a more intelligent infrastructure are increasingly focused on analyzing privacy-sensitive data obtained from individuals. To produce accurate statistics about the habits…
Discrete-time systems under aperiodic sampling may serve as a modeling abstraction for a multitude of problems arising in cyber-physical and networked control systems. Recently, model- and data-based stability conditions for such systems…
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous (i.e., time-varying) nonlinear system under a contraction metric defined with a uniformly positive definite matrix, the existence of which results…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
Previously we showed how delay communication between globally coupled self-propelled agents causes new spatio-temporal patterns to arise when the delay coupling is fixed among all agents \cite{Forgoston08}. In this paper, we show how…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
This paper introduce the notion of output contraction that expands the contraction notion to the time-varying nonlinear systems with output. It pertains to the systems' property that any pair of outputs from the system converge to each…
Networks of globally coupled, noise activated, bistable elements with connection time delays are considered. The dynamics of these systems is studied numerically using a Langevin description and analytically using (1) a Gaussian…
This paper deals with the global stability of time-delayed dynamical networks. We show that for a time-delayed dynamical network with non-distributed delays the network and the corresponding non-delayed network are both either globally…
This work investigates the distributed constrained optimization problem under inter-agent communication delays from the perspective of passivity. First, we propose a continuous-time algorithm for distributed constrained optimization with…
Time delays may cause dramatic changes to the dynamics of interacting oscillators. Coupled networks of interacting dynamical systems can behave unexpectedly when the signal between the vertices are time delayed. It has been shown for a very…