相关论文: Centralised versus Decentralised Active Control 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…
As the energy transition transforms power grids across the globe, it poses several challenges regarding grid design and control. In particular, high levels of intermittent renewable generation complicate the task of continuously balancing…
This paper presents a unified modeling, control, and estimation framework for the quadruple-tank process, a benchmark multivariable system that exhibits either minimum phase or nonminimum phase behavior depending on valve flow ratios. A…
We investigate performance bounds for feedback control of distributed plants where the controller can be centralized (i.e. it has access to measurements from the whole plant), but sensors only measure differences between neighboring…
The problem of decentralized detection in a sensor network subjected to a total average power constraint and all nodes sharing a common bandwidth is investigated. The bandwidth constraint is taken into account by assuming non-orthogonal…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator-channel are compensated by sending sequences of…
In this paper, we describe a conceptual design methodology to design distributed neural network architectures that can perform efficient inference within sensor networks with communication bandwidth constraints. The different sensor…
Local and inter-area oscillations in bulk power systems are typically identified using spatial profiles of poorly damped modes, and they are mitigated via carefully tuned decentralized controllers. In this paper, we employ non-modal tools…
We consider linear feedback flow control of the largest scales in an incompressible turbulent channel flow at a friction Reynolds number of Re$_{\tau}$ = 2000. A linear model is formed by linearizing the Navier-Stokes equations about the…
This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
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…
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according…
A problem of vibration control of smart beams was addressed in various publications which primarily utilize collocated sensors and actuators and neglect the effect of measurement noise in the observer design. This paper develops a natural…
This paper proposes a decentralized design approach of consensus protocols of multi-agent systems via a directed-spanning-tree(DST)-based linear transformation and the corresponding minimal communication links. First, the consensus problem…
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…