相关论文: Duality and Network Theory in Passivity-based Coop…
Coordination of dynamical routes can alleviate traffic congestion and is essential for the coming era of autonomous self-driving cars. However, dynamical route coordination is difficult and many existing routing protocols are either static…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
In this paper, we revisit primal-dual dynamics for convex optimization and present a generalization of the dynamics based on the concept of passivity. It is then proved that supplying a stable zero to one of the integrators in the dynamics…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
This paper investigates the synthesis of distributed economic control algorithms under which dynamically coupled physical systems are regulated to a variational equilibrium of a constrained convex game. We study two complementary cases: (i)…
We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…
We consider the freeway network control problem where the aim is to optimize the operation of traffic networks modeled by the Cell Transmission Model via ramp metering and partial mainline demand control. Optimal control problems using the…
Bilevel optimization problems embed the optimality of a subproblem as a constraint of another optimization problem. We introduce the concept of near-optimality robustness for bilevel optimization, protecting the upper-level solution…
We present two linked theorems on passivity: the passive behavior theorem, parts 1 and 2. Part 1 provides necessary and sufficient conditions for a general linear system, described by a set of high order differential equations, to be…
Active many-body systems composed of many interacting degrees of freedom often operate out of equilibrium, giving rise to non-trivial emergent behaviors which can be functional in both evolved and engineered contexts. This naturally…
This paper considers the optimization-based traffic allocation problem among multiple end points in connectionless networks. The network utility function is modeled as a non-concave function, since it is the best description of the quality…
We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature of passivity theory, alongside stability, has traditionally been claimed to be intuitive performance tuning along the…
A dual control problem is presented for the optimal stochastic control of a system governed by partial differential equations. Relationships between the optimal values of the original and the dual problems are investigated and two duality…
We study a continuous-time primal-dual algorithm for distributed optimization with nonconvex local cost functions over weight-unbalanced digraphs, and analyze its performance from a dissipativity-based perspective. We first reformulate the…
This paper considers the problem of controlling a dynamical system when the state cannot be directly measured and the control performance metrics are unknown or partially known. In particular, we focus on the design of data-driven…
The goal of traffic management is efficiently utilizing network resources via adapting of source sending rates and routes selection. Traditionally, this problem is formulated into a utilization maximization problem. The single-path routing…
We analyze networked heterogeneous nonlinear systems, with diffusive coupling and interconnected over a generic static directed graph. Due to the network's hetereogeneity, complete synchronization is impossible, in general, but an emergent…
We study an optimal control problem aimed at achieving a desired tradeoff between the network coherence and communication requirements in the distributed controller. Our objective is to add a certain number of edges to an undirected…
We consider a discrete-time bipartite matching model with random arrivals of units of supply and demand that can wait in queues located at the nodes in the network. A control policy determines which are matched at each time. The focus is on…
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a…