相关论文: Control limitations from distributed sensing: theo…
We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
A distributed average consensus algorithm in which every sensor transmits with bounded peak power is proposed. In the presence of communication noise, it is shown that the nodes reach consensus asymptotically to a finite random variable…
We study the problem of interference management in large-scale small cell networks, where each user equipment (UE) needs to determine in a distributed manner when and at what power level it should transmit to its serving small cell base…
We study the performance of perception-based control systems in the presence of attacks, and provide methods for modeling and analysis of their resiliency to stealthy attacks on both physical and perception-based sensing. Specifically, we…
This paper addresses the problem of distributed coordination control of spacecraft formation. It is assumed that the agents measure relative positions of each other with a non-zero, unknown constant sensor bias. The translational dynamics…
Online feedback optimization is a controller design paradigm for optimizing the steady-state behavior of a dynamical system. It employs an optimization algorithm as a dynamic feedback controller and utilizes real-time measurements to bypass…
Diffusion models excel at capturing complex data distributions, such as those of natural images and proteins. While diffusion models are trained to represent the distribution in the training dataset, we often are more concerned with other…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
Recent years have witnessed a growing interest in understating the limitations imposed by quantum noise in precision measurements and devising techniques to reduce it. The attention is currently turning to the simultaneously estimation of…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
We prove an analytical limitation on the use of time-delayed feedback control for the stabilization of periodic orbits in autonomous systems. This limitation depends on the number of real Floquet multipliers larger than unity, and is…
Distributed approaches to secondary frequency control have become a way to address the need for more flexible control schemes in power networks with increasingly distributed generation. The distributed averaging proportional-integral (DAPI)…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
According to recent results, convergence in a prespecified or prescribed finite time can be achieved under extreme model uncertainty if control is applied continuously over time. This paper shows that this extreme amount of uncertainty…
In the context of distributed estimation, we consider the problem of sensor collaboration, which refers to the act of sharing measurements with neighboring sensors prior to transmission to a fusion center. While incorporating the cost of…
This paper addresses the challenge of network synchronization under limited communication, involving heterogeneous agents with different dynamics and various network topologies, to achieve consensus. We investigate the distributed adaptive…
Recent approaches in music generation rely on disentangled representations, often labeled as structure and timbre or local and global, to enable controllable synthesis. Yet the underlying properties of these embeddings remain underexplored.…
Feedback or closed-loop control allows dynamical systems to increase their performance up to a limit imposed by the second law of thermodynamics. It is expected that within this limit, the system performance increases as the controller uses…