相关论文: Mesh Stability Guaranteed Rigid Body Networks Usin…
Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topologies. However, it is beneficial to design both the…
This paper presents a novel dissipativity-based distributed droop-free control and communication topology co-design approach for voltage regulation and current sharing in DC microgrids (DC MGs) with generic ``ZIP'' (constant impedance (Z),…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
In this paper, we consider networked systems comprised of interconnected sets of linear subsystems and propose a decentralized and compositional approach to stabilize or dissipativate such linear networked systems via optimally modifying…
In this paper, we develop centralized and decentralized techniques for analyzing and synthesizing networked systems comprised of interconnected sets of non-linear subsystems - only using the subsystem dissipativity properties. In…
This paper presents a novel dissipativity-based distributed droop-free control approach for the voltage regulation problem in DC microgrids (MGs) comprised of an interconnected set of distributed generators (DGs), loads, and power lines.…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
Understanding conformational change is crucial for programming and controlling the function of many mechanical systems such as allosteric enzymes and tunable metamaterials. Of particular interest is the relationship between the network…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
A general scheme is proposed and tested to control the symmetry breaking instability of a homogeneous solution of a spatially extended multispecies model, defined on a network. The inherent discreteness of the space makes it possible to act…
A statistical mechanical distance constraint model (DCM) is presented that explicitly accounts for network rigidity among constraints present within a system. Constraints are characterized by local microscopic free energy functions.…
In Evolutionary Robotics, evolutionary algorithms are used to co-optimize morphology and control. However, co-optimizing leads to different challenges: How do you optimize a controller for a body that often changes its number of inputs and…
We take a unified view of network coding and decentralized control. Precisely speaking, we consider both as linear time-invariant systems by appropriately restricting channels and coding schemes of network coding to be linear…
Deep residual networks (ResNets) have demonstrated outstanding success in computer vision tasks, attributed to their ability to maintain gradient flow through deep architectures. Simultaneously, controlling the Lipschitz constant in neural…
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 presents a novel dissipativity-based distributed droop-free control approach for voltage regulation and current sharing in DC microgrids (MGs) comprised of an interconnected set of distributed generators (DGs), loads, and power…
Symmetries are an essential feature of complex networks as they regulate how the graph collective dynamics organizes into clustered states. We here show how to control network symmetries, and how to enforce patterned states of…
This paper deals with the leader-follower attitude synchronization problem for a group of heterogeneous rigid body systems on $SO(3)$ under an undirected, connected, and acyclic graph communication topology. The proposed distributed control…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…