相关论文: Decentralized control of large vehicular formation…

This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…

This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…

We study a conductance-weighted arboricity for a finite simple undirected graph $G=(V,E,c)$ with a conductance assignment $c:E\to[0,\infty)$: \[ A_c(G):=\max\bigl\{ D_c(H): H\subseteq G\text{ connected}, |V(H)|\ge 2 \bigr\},\qquad…

This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…

This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial information of the desired trajectory. The proposed…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

Stop-and-go waves in road traffic are complex collective phenomena with significant implications for traffic engineering, safety and the environment. Despite decades of research, understanding and controlling these dynamics remains…

In this two-part paper, we identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple intuitive estimation structure and can be computed efficiently. Roughly, we consider the…

The notions of bounded-size and quasibounded-size decompositions with bounded treedepth base classes are central to the structural theory of graph sparsity introduced by two of the authors years ago, and provide a characterization of both…

Platooning of connected and automated vehicles provides significant benefits in terms of energy efficiency, traffic throughput, and, most critically, safety. These safety benefits depend on string stability, which dictates how disturbances…

Graph convolutional neural networks (GCNNs) are nonlinear processing tools to learn representations from network data. A key property of GCNNs is their stability to graph perturbations. Current analysis considers deterministic perturbations…

We study the 2D linear stability analysis of a deformable solid of a finite height $H$, steadily sliding on top of a rigid solid within a generic rate-and-state friction type constitutive framework, fully accounting for elastodynamic…

We define a range of new coarse geometric invariants based on various graph-theoretic measures of complexity for finite graphs, including: treewidth, pathwidth, cutwidth and bandwidth. We prove that, for bounded degree graphs, these…

This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but…

We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel decentralized control algorithm which is able to guarantee a…

This article introduces and studies a new class of graphs motivated by discrete curvature. We call a graph resistance nonnegative if there exists a distribution on its spanning trees such that every vertex has expected degree at most two in…

This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges…

An asymptotic interface equation for directional solidification near the absolute stabiliy limit is extended by a nonlocal term describing a shear flow parallel to the interface. In the long-wave limit considered, the flow acts…

The hype around self-driving cars has been growing over the past years and has sparked much research. Several modules in self-driving cars are thoroughly investigated to ensure safety, comfort, and efficiency, among which the controller is…

We present a true-dynamics-agnostic, statistically rigorous framework for establishing exponential stability and safety guarantees of closed-loop, data-driven nonlinear control. Central to our approach is the novel concept of conformal…