相关论文: Decentralized PI-control and Anti-windup in Resour…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
The design of optimal disturbance accommodation and servomechanism controllers with limited plant model information is considered in this paper. Their closed-loop performance are compared using a performance metric called competitive ratio…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
In this paper, the notion of robust strict QSR-dissipativity is applied to solve the static output feedback control problem for a class of continuous-time nonlinear rational systems subject to input saturation and bounded parametric…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
We present a closed-loop multi-arm motion planner that is scalable and flexible with team size. Traditional multi-arm robot systems have relied on centralized motion planners, whose runtimes often scale exponentially with team size, and…
This paper presents a robust secondary control strategy for frequency synchronization and active power sharing for inverter-based microgrids. The problem is addressed in a multi-agent fashion where the local controllers of the distributed…
We consider frequency control of synchronous generator networks and study transient performance under both primary and secondary frequency control. We model random step changes in power loads and evaluate performance in terms of expected…
A centralized model predictive controller (MPC), which is unaware of local uncertainties, for an affine discrete time nonlinear system is presented. The local uncertainties are assumed to be matched, bounded and structured. In order to…
This paper examines the stability and distributed stabilization of signed multi-agent networks. Here, positive semidefiniteness is not inherent for signed Laplacians, which renders the stability and consensus of this category of networks…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order…
We introduce a class of distributed control policies for networks of discrete-time linear systems with polytopic additive disturbances. The objective is to restrict the network-level state and controls to user-specified polyhedral sets for…
In large-scale neural networks, coherent limit cycle oscillations usually coexist with unstable incoherent equilibrium states, which are not observed experimentally. We implement a first-order dynamic controller to stabilize unknown…
This paper studies the stability and dynamic control of underlay mobile edge networks. First, the stability region for a multiuser edge network is obtained under the assumption of full channel state information. This result provides a…
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…
We consider a continuous time linear multi inventory system with unknown demands bounded within ellipsoids and controls bounded within ellipsoids or polytopes. We address the problem of "-stabilizing the inventory since this implies some…
This work studies analysis and synthesis problems for diffusively coupled multi-agent systems. We focus on networks comprised of multi-input multi-output nonlinear systems that posses a property we term maximal equilibrium-independent…