相关论文: Decentralized PI-control and Anti-windup in Resour…
We consider a control problem involving several agents coupled through multiple unit-demand resources. Such resources are indivisible, and each agent's consumption is modeled as a Bernoulli random variable. Controlling the number of such…
In Part I of this paper we propose a decentralized optimal frequency control of multi-area power system with operational constraints, where the tie-line powers remain unchanged in the steady state and the power mismatch is balanced within…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
In this paper, we study the controllability and stabilizability properties of the Kolmogorov forward equation of a continuous time Markov chain (CTMC) evolving on a finite state space, using the transition rates as the control parameters.…
We present trust region bounds for optimizing decentralized policies in cooperative Multi-Agent Reinforcement Learning (MARL), which holds even when the transition dynamics are non-stationary. This new analysis provides a theoretical…
Distributed control agents have been advocated as an effective means for improving the resiliency of our physical infrastructures under unexpected events. Purely local control has been shown to be insufficient, centralized optimal resource…
We investigate the stability and robustness properties of a continuification-based strategy for the control of large-scale multiagent systems. Within continuation-based strategy, one transforms the microscopic, agent-level description of…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
Optimal control for switch-based dynamical systems is a challenging problem in the process control literature. In this study, we model these systems as hybrid dynamical systems with finite number of unknown switching points and reformulate…
We consider a class of multi-agent distributed synchronization systems, which are modeled as $n$ particles moving on the real line. This class generalizes the model of a multi-server queueing system, considered in [15], employing so-called…
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…
This paper introduces a novel decentralized implementation of a continuification-based strategy to control the density of large-scale multi-agent systems on the unit circle. While continuification methods effectively address micro-to-macro…
This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the…
This paper presents the distributed pinning consensus solution for nonlinear positive multi-agent systems with nonlinear control input by applying observer-based control protocols. The network topology is considered as a directed and fully…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
This article presents a Real-Time Iteration (RTI) scheme for distributed Nonlinear Model Predictive Control (NMPC). The scheme transfers the well-known RTI approach, a key enabler for many industrial real-time NMPC implementations, to the…
This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which…
Classical queuing network control strategies typically rely on accurate knowledge of model data, i.e., arrival and service rates. However, such data are not always available and may be time-variant. To address this challenge, we consider a…