相关论文: Sparse $H_\infty$ Controller for Networked Control…

Several challenges make it difficult for sparse neural networks to compete with dense models. First, setting a large fraction of weights to zero impairs forward and gradient signal propagation. Second, sparse studies often need to test…

The reliable operation of large-scale electric power networks is increasingly challenging, particularly with the integration of stochastic renewable generation. In this work, we address the problem of minimizing network transients by…

The stabilization of uncertain LTI/LPV time delay systems with time varying delays by state-feedback controllers is addressed. At the difference of other works in the literature, the proposed approach allows for the synthesis of resilient…

In this paper we study the optimal control of an initial-boundary value problem for the classical nonviscous Cahn-Hilliard system with zero Neumann boundary conditions. Phase field systems of this type govern the evolution of diffusive…

Inter-area oscillations in bulk power systems are typically poorly controllable by means of local decentralized control. Recent research efforts have been aimed at developing wide- area control strategies that involve communication of…

One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then…

An eigenvalue based framework is developed for the H-infinity norm analysis and its norm minimization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations (DDAEs). For these equations…

The paper aims at the development of tools for analysis and construction of near optimal solutions of singularly perturbed (SP) optimal controls problems with long run average optimality criteria. The idea that we exploit is to first…

This paper considers the robustness analysis and distributed $\mathcal{H}_{\infty}$ (H-infinity) controller synthesis for a platoon of connected vehicles with undirected topologies. We first formulate a unified model to describe the…

Discrete-time robust optimal control problems generally take a min-max structure over continuous variable spaces, which can be difficult to solve in practice. In this paper, we extend the class of such problems that can be solved through a…

We study control of constrained linear systems with only partial statistical information about the uncertainty affecting the system dynamics and the sensor measurements. Specifically, given a finite collection of disturbance realizations…

This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inverse optimal control problem, where the cost functional…

Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. In this work…

We propose and study an algorithm for computing a nearest passive system to a given non-passive linear time-invariant system (with much freedom in the choice of the metric defining `nearest', which may be restricted to structured…

This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…

In this paper, a method is presented to synthesize neural network controllers such that the feedback system of plant and controller is dissipative, certifying performance requirements such as L2 gain bounds. The class of plants considered…

This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…

This paper studies preview control in both the $H_\infty$ and regret-optimal settings. The plant is modeled as a discrete-time, linear time-invariant system subject to external disturbances. The performance baseline is the optimal…

H2-conic controller design seeks to minimize the closed-loop H2-norm for a nominal linear system while satisfying the Conic Sector Theorem for nonlinear stability. This problem has only been posed with limited design freedom, as opposed to…

We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…