相关论文: Decentralized control of large vehicular formation…
In this technical communique, we develop a graphical design procedure for reset controllers for unstable LTI plants based on recent developments on Scaled Relative Graph analysis, yielding an $L_2$-gain performance bound. The stabilizing…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
We study existence, stability, and dynamics of linear and nonlinear stationary modes propagating in radially symmetric multi-core waveguides with balanced gain and loss. We demonstrate that, in general, the system can be reduced to an…
We study embeddings of graphs with bounded treewidth or bounded simple treewidth into the undirected graph underlying the directed product of two directed graphs. If the factors have bounded maximum indegrees, then the product graph has…
Recent interest in the external validity of prediction models (i.e., the problem of different train and test distributions, known as dataset shift) has produced many methods for finding predictive distributions that are invariant to dataset…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
Connected and automated vehicles have shown great potential in improving traffic mobility and reducing emissions, especially at unsignalized intersections. Previous research has shown that vehicle passing order is the key influencing factor…
%!TEX root = LCSS_main_max.tex The widespread adoption of nonlinear Receding Horizon Control (RHC) strategies by industry has led to more than 30 years of intense research efforts to provide stability guarantees for these methods. However,…
This paper presents new results and reinterpretation of existing conditions for strong structural controllability in a structured network determined by the zero/non-zero patterns of edges. For diffusively-coupled networks with self-loops,…
A networked control system (NCS) consisting of cascaded two-port communication channels between the plant and controller is modeled and analyzed. Towards this end, the robust stability of a standard closed-loop system in the presence of…
We analyze the linear stability of monoclinal traveling waves on a constant incline, which connect uniform flowing regions of differing depths. The classical shallow-water equations are employed, subject to a general resistive drag term.…
Consensus over networked agents is typically studied using undirected or directed communication graphs. Undirected graphs enforce symmetry in information exchange, leading to convergence to the average of initial states, while directed…
The graph parameter shrub-depth is a dense analog of tree-depth. We characterize classes of bounded shrub-depth by forbidden induced subgraphs. The obstructions are well-controlled flips of large half-graphs and of disjoint unions of many…
We consider random perturbations of discrete-time dynamical systems. We give sufficient conditions for the stochastic stability of certain classes of maps, in a strong sense. This improves the main result in J. F. Alves, V. Araujo, Random…
Linearization based controllers for incompressible flows have been proven to work in theory and in simulations. To realize such a controller numerically, the infinite dimensional system has to be linearized and discretized. The unavoidable…
Classical spectral graph theory relies on the symmetry of the adjacency and Laplacian operators, which guarantees orthogonal eigenbases and energy-preserving Fourier transforms. However, real-world networks are intrinsically directed and…
Graph neural networks are experiencing a surge of popularity within the machine learning community due to their ability to adapt to non-Euclidean domains and instil inductive biases. Despite this, their stability, i.e., their robustness to…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
We present a set-oriented graph-based computational framework for continuous-time optimal transport over nonlinear dynamical systems. We recover provably optimal control laws for steering a given initial distribution in phase space to a…
The stability of optimal transport maps with respect to perturbations of the marginals is a question of interest for several reasons, ranging from the justification of the linearized optimal transport framework to numerical analysis and…