This paper studies distributed edge weight synthesis of a cooperative system for a fixed topology to improve $H_{\infty}$ performance, considering that disturbances are injected at interconnection channels. This problem is cast into a linear matrix inequality problem by replacing original cooperative system with an equivalent ideal cooperative system. Derivations of the method relies on dissipative system framework. Proposed method provides an upper bound for the induced $\mathcal{L}_{2}$ norm of the original lumped cooperative system while reducing the computation time. A comparison for computation time illustrates the advantage of the proposed method against the lumped counterpart.
Autonomous vehicle following systems are playing a decisive role to increase vehicle density on roads by shortening inter-vehicle time gaps. However, disturbance attenuation along a platoon of vehicles, i.e., string stability, is being a challenging task while time gap is getting shorter. In order to guarantee the string stability of a vehicle platoon, a multi-objective $H_{\infty}$ control formulation for adaptive cruise control and cooperative adaptive cruise control structures has been investigated in this paper. The proposed control method solves an optimization problem and achieves a cont…
Learning-based Formal Synthesis of Cooperative Multi-agent Systems
Unmanned Systems Research Institute (DU2SRI), Department of Electrical and Computer Engineering, University of Denver（丹佛大学电气与计算机工程学院无人系统研究所）；Department of Electrical Engineering, University of Notre Dame（圣母大学电气工程系）
This paper introduces a novel $\mathcal{H}_{\infty}$-optimal interval observer synthesis for bounded-error/uncertain locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with noisy nonlinear observations. Specifically, using mixed-monotone decompositions, the proposed observer is correct by construction, i.e., the interval estimates readily frame the true states without additional constraints or procedures. In addition, we provide sufficient conditions for input-to-state (ISS) stability of the proposed observer and for minimizing the $\mathcal{H}_{\infty}$ gain of th…
The increase in available data and complexity of dynamical systems has sparked the research on data-based system performance analysis and controller design. Recent approaches can guarantee performance and robust controller synthesis based on noisy input-state data of a single dynamical system. In this paper, we extend a recent data-based approach for guaranteed performance analysis to distributed analysis of interconnected linear systems. We present a new set of sufficient LMI conditions based on noisy input-state data that guarantees $\mathcal{H}_\infty$ performance and have a structure that …
Cooperative Task Planning of Multi-Agent Systems Under Timed Temporal Specifications
ACCESS Linnaeus Center, School of Electrical Engineering, KTH Royal Institute of Technology（林奈中心电气工程学院，皇家理工学院）；KTH Centre for Autonomous Systems（皇家理工学院自主系统中心）
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Direct policy search has been widely applied in modern reinforcement learning and continuous control. However, the theoretical properties of direct policy search on nonsmooth robust control synthesis have not been fully understood. The optimal $\mathcal{H}_\infty$ control framework aims at designing a policy to minimize the closed-loop $\mathcal{H}_\infty$ norm, and is arguably the most fundamental robust control paradigm. In this work, we show that direct policy search is guaranteed to find the global solution of the robust $\mathcal{H}_\infty$ state-feedback control design problem. Notice th…
Differential positivity and K-cooperativity, a special case of differential positivity, extend differential approaches to control to nonlinear systems with multiple equilibria, such as switches or multi-agent consensus. To apply this theory, we reframe conditions for strict K-cooperativity as an optimization problem. Geometrically, the conditions correspond to finding a cone that a set of linear operators leave invariant. Even though solving the optimization problem is hard, we combine the optimization perspective with the geometric intuition to construct a heuristic cone-finding algorithm cen…
Impedance control of a cable-driven SEA with mixed $H_2/H_\infty$ synthesis
Institute of Robotics and Automatic Information Systems, Nankai University（机器人与自动信息系统研究所，南开大学）；Tianjin Key Laboratory of Intelligent Robotics, Nankai University（天津智能机器人重点实验室，南开大学）
A two-disk approach to the synthesis of coherent passive equalizers for linear quantum systems
School of Engineering and Technology, University of New South Wales（新南威尔士大学工程与技术学院）；School of Engineering, Australian National University（澳大利亚国立大学工程学院）
We present a computational framework for synthesis of distributed control strategies for a heterogeneous team of robots in a partially observable environment. The goal is to cooperatively satisfy specifications given as Truncated Linear Temporal Logic (TLTL) formulas. Our approach formulates the synthesis problem as a stochastic game and employs a policy graph method to find a control strategy with memory for each agent. We construct the stochastic game on the product between the team transition system and a finite state automaton (FSA) that tracks the satisfaction of the TLTL formula. We use …
This paper involves the innovative development of a symmetric Gauss-Seidel ADMM algorithm to solve the H-infinity guaranteed cost control problem. In the presence of parametric uncertainties, the H-infinity guaranteed cost control problem generally leads to the large-scale optimization. This is due to the exponential growth of the number of the extreme systems involved with respect to the number of parametric uncertainties. In this work, through a variant of the Youla-Kucera parameterization, the stabilizing controllers are parameterized in a convex set; yielding the outcome that the H-infinit…
