Pub Date : 2020-12-14DOI: 10.1109/CDC42340.2020.9303877
G. Pasquale, M. E. Valcher
In this paper we address consensus in the context of networked agents whose interactions can be modelled by an undirected, signed, weighted, connected and clustered graph. We assume that individuals can be split into three clusters representing the decision classes on a given specific topic. Interactions between agents belonging to the same cluster are cooperative, meaning that the link connecting those agents has a non-negative weight, while interactions between agents belonging to different clusters are antagonistic and therefore a non-positive weight is associated to the link connecting them. We will show that under certain regularity assumptions it is possible to devise a simple modification of DeGroot’s algorithm that ensures that the opinions of agents who cooperate converge to consensus, i.e. the opinions of agents belonging to the same class converge to the same decision.
{"title":"Consensus Problems on Clustered Networks","authors":"G. Pasquale, M. E. Valcher","doi":"10.1109/CDC42340.2020.9303877","DOIUrl":"https://doi.org/10.1109/CDC42340.2020.9303877","url":null,"abstract":"In this paper we address consensus in the context of networked agents whose interactions can be modelled by an undirected, signed, weighted, connected and clustered graph. We assume that individuals can be split into three clusters representing the decision classes on a given specific topic. Interactions between agents belonging to the same cluster are cooperative, meaning that the link connecting those agents has a non-negative weight, while interactions between agents belonging to different clusters are antagonistic and therefore a non-positive weight is associated to the link connecting them. We will show that under certain regularity assumptions it is possible to devise a simple modification of DeGroot’s algorithm that ensures that the opinions of agents who cooperate converge to consensus, i.e. the opinions of agents belonging to the same class converge to the same decision.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121267114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-06-01DOI: 10.1109/cdc.2004.1429465
{"title":"Breaker page","authors":"","doi":"10.1109/cdc.2004.1429465","DOIUrl":"https://doi.org/10.1109/cdc.2004.1429465","url":null,"abstract":"","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"199 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133877569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-04-28DOI: 10.1109/CDC40024.2019.9030153
F. Ilhan, Özkan Karabacak, R. Wisniewski
A sufficient condition for the almost global stability of nonlinear switched systems under average dwell time restriction is obtained. This condition is derived leaning upon the existence of multiple Lyapunov densities, which are associated to subsystems and satisfy some compatibility conditions. An upper bound for the average dwell time that ensures almost global stability is obtained.
{"title":"A Sufficient Condition for the Almost Global Stability of Nonlinear Switched Systems with Average Dwell Time","authors":"F. Ilhan, Özkan Karabacak, R. Wisniewski","doi":"10.1109/CDC40024.2019.9030153","DOIUrl":"https://doi.org/10.1109/CDC40024.2019.9030153","url":null,"abstract":"A sufficient condition for the almost global stability of nonlinear switched systems under average dwell time restriction is obtained. This condition is derived leaning upon the existence of multiple Lyapunov densities, which are associated to subsystems and satisfy some compatibility conditions. An upper bound for the average dwell time that ensures almost global stability is obtained.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"140 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114002241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-12-01DOI: 10.1109/CDC.2016.7798853
A. Silva
In this paper we show that the outer invariance entropy for admissible pairs of an affine system on a Lie group is given by the sum of the positive real parts of the eigenvalues of a derivation D* associated to the drift of the system.
{"title":"Affine systems on Lie groups and invariance entropy","authors":"A. Silva","doi":"10.1109/CDC.2016.7798853","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798853","url":null,"abstract":"In this paper we show that the outer invariance entropy for admissible pairs of an affine system on a Lie group is given by the sum of the positive real parts of the eigenvalues of a derivation D* associated to the drift of the system.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129884736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040128
Peng Li, Jianjun Ma, Zhiqiang Zheng, Lina Geng
This paper presents a fast nonsingular integral terminal sliding mode control (FNITSMC) for a class of nonlinear systems. First, a novel fast nonsingular integral terminal sliding mode surface (FNITSMS) is designed by introducing power integral terms which contain a boundary-like structure. Next, by employing FNITSMS and the equivalent control technique, the FNITSMC is proposed to achieve the finite-time convergence of the system states. Compared with many existing works on terminal sliding mode control (TSMC), the proposed FNITSMC exhibits three attractive features: (i) can avoid the singularity problem without any constraint, and provide faster responses by tuning the parameters in FNITSMS; (ii) for constant or eventually constant disturbances, zero steady-state error can be achieved when a boundary layer is used to alleviate chattering; (iii) the switching gain is only required to be designed greater than the bound of the disturbance. Finally, Simulation results of both the numerical and application examples show the effectiveness of the proposed control method.
{"title":"Fast nonsingular integral terminal sliding mode control for nonlinear dynamical systems","authors":"Peng Li, Jianjun Ma, Zhiqiang Zheng, Lina Geng","doi":"10.1109/CDC.2014.7040128","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040128","url":null,"abstract":"This paper presents a fast nonsingular integral terminal sliding mode control (FNITSMC) for a class of nonlinear systems. First, a novel fast nonsingular integral terminal sliding mode surface (FNITSMS) is designed by introducing power integral terms which contain a boundary-like structure. Next, by employing FNITSMS and the equivalent control technique, the FNITSMC is proposed to achieve the finite-time convergence of the system states. Compared with many existing works on terminal sliding mode control (TSMC), the proposed FNITSMC exhibits three attractive features: (i) can avoid the singularity problem without any constraint, and provide faster responses by tuning the parameters in FNITSMS; (ii) for constant or eventually constant disturbances, zero steady-state error can be achieved when a boundary layer is used to alleviate chattering; (iii) the switching gain is only required to be designed greater than the bound of the disturbance. Finally, Simulation results of both the numerical and application examples show the effectiveness of the proposed control method.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124365074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/CDC.2013.6760306
Annika Eichler, C. Hoffmann, H. Werner
In this paper and its companion paper [1], an approach to distributed control of a class of interconnected systems is proposed. The systems under consideration are known as decomposable systems, which include multi-agent systems as a special case. It is assumed that the interconnection topology is uncertain but belongs to a known set of topologies. In the first part of this series of two papers, sufficient conditions for stability analysis are derived for different cases of directed time-invariant and time-varying topologies. In this paper, the second part, these conditions are extended to decomposable LPV systems. Recent work on state feedback controller synthesis is extended here to robust output feedback controller synthesis. The distributed controllers proposed here are robust in a twofold sense: first against uncertain topologies and second against the LPV dynamics of the subsystems.
{"title":"Robust control of decomposable LPV systems under time-invariant and time-varying interconnection topologies (Part 2)","authors":"Annika Eichler, C. Hoffmann, H. Werner","doi":"10.1109/CDC.2013.6760306","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760306","url":null,"abstract":"In this paper and its companion paper [1], an approach to distributed control of a class of interconnected systems is proposed. The systems under consideration are known as decomposable systems, which include multi-agent systems as a special case. It is assumed that the interconnection topology is uncertain but belongs to a known set of topologies. In the first part of this series of two papers, sufficient conditions for stability analysis are derived for different cases of directed time-invariant and time-varying topologies. In this paper, the second part, these conditions are extended to decomposable LPV systems. Recent work on state feedback controller synthesis is extended here to robust output feedback controller synthesis. The distributed controllers proposed here are robust in a twofold sense: first against uncertain topologies and second against the LPV dynamics of the subsystems.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124077029","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-12-01DOI: 10.1109/CDC.2013.6760493
M. S. Darup, M. Mönnigmann
We present a method for the accurate approximation of the largest null-controllable set N∞ for constrained bilinear systems. It is central to the presented approach that a simple quantitative measure of the accuracy of approximation can be determined. This measure can be used as a termination criterion for an iterative approximation of N∞ with step sets. If the termination criterion is met, the proposed method results in an inner approximation of N∞ that covers a requested percentage of N∞.
{"title":"Accurate approximation of the largest null-controllable set for single-input bilinear systems","authors":"M. S. Darup, M. Mönnigmann","doi":"10.1109/CDC.2013.6760493","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760493","url":null,"abstract":"We present a method for the accurate approximation of the largest null-controllable set N∞ for constrained bilinear systems. It is central to the presented approach that a simple quantitative measure of the accuracy of approximation can be determined. This measure can be used as a termination criterion for an iterative approximation of N∞ with step sets. If the termination criterion is met, the proposed method results in an inner approximation of N∞ that covers a requested percentage of N∞.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131446120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-12-01DOI: 10.1109/CDC.2012.6426548
P. D. Lellis, M. Bernardo
This paper is concerned with the pinning control of networks of Lur'e type nonlinear oscillators through an innovative decentralized adaptive approach. In particular, time-varying feedback coupling and control gains are considered, whose derivatives are function of local error over each edge in the network. The strategy is shown to be successful in controlling the network to the desired trajectory. The theoretical derivation is complemented by its validation on a representative example.
{"title":"Adaptive pinning control of complex networks of Lur'e systems","authors":"P. D. Lellis, M. Bernardo","doi":"10.1109/CDC.2012.6426548","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426548","url":null,"abstract":"This paper is concerned with the pinning control of networks of Lur'e type nonlinear oscillators through an innovative decentralized adaptive approach. In particular, time-varying feedback coupling and control gains are considered, whose derivatives are function of local error over each edge in the network. The strategy is shown to be successful in controlling the network to the desired trajectory. The theoretical derivation is complemented by its validation on a representative example.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"160 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126920935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-08-24DOI: 10.1109/CDC.2012.6426625
Ali Kebarighotbi, C. Cassandras
Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is to quantify the effect of this parameter on the system behavior. In this paper, we extend previous results to the case where there are N transmitting nodes making use of a common communication link bandwidth. After deriving the stochastic hybrid model for this problem, we apply Infinitesimal Perturbation Analysis to find the derivative estimates of aggregate average goodput of the system. We also derive the derivative estimate of the goodput of a transmitter with respect to its own timeout threshold which can be used for local and hence, distributed optimization.
{"title":"Timeout control in distributed systems using perturbation analysis: Multiple communication links","authors":"Ali Kebarighotbi, C. Cassandras","doi":"10.1109/CDC.2012.6426625","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426625","url":null,"abstract":"Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is to quantify the effect of this parameter on the system behavior. In this paper, we extend previous results to the case where there are N transmitting nodes making use of a common communication link bandwidth. After deriving the stochastic hybrid model for this problem, we apply Infinitesimal Perturbation Analysis to find the derivative estimates of aggregate average goodput of the system. We also derive the derivative estimate of the goodput of a transmitter with respect to its own timeout threshold which can be used for local and hence, distributed optimization.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114289122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-12-01DOI: 10.1109/CDC.2010.5718029
Wei He, S. Ge, C. Hang, K. Hong
In this paper, robust adaptive boundary control for a vibrating string under unknown time-varying disturbance is developed to suppress the string's vibration. The dynamics of the string is represented by a partial differential equation (PDE) and several ordinary differential equations (ODEs) involving functions of space and time. To deal with the system parametric uncertainty and stabilize the string, robust adaptive boundary control is developed at the tip of the string based on the Lyapunov's direct method. With the proposed boundary control, uniform ultimate boundedness of the closed loop system is achieved. The state of the string system is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Simulations are presented to illustrate the effectiveness of the proposed control.
{"title":"Boundary control of a vibrating string under unknown time-varying disturbance","authors":"Wei He, S. Ge, C. Hang, K. Hong","doi":"10.1109/CDC.2010.5718029","DOIUrl":"https://doi.org/10.1109/CDC.2010.5718029","url":null,"abstract":"In this paper, robust adaptive boundary control for a vibrating string under unknown time-varying disturbance is developed to suppress the string's vibration. The dynamics of the string is represented by a partial differential equation (PDE) and several ordinary differential equations (ODEs) involving functions of space and time. To deal with the system parametric uncertainty and stabilize the string, robust adaptive boundary control is developed at the tip of the string based on the Lyapunov's direct method. With the proposed boundary control, uniform ultimate boundedness of the closed loop system is achieved. The state of the string system is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Simulations are presented to illustrate the effectiveness of the proposed control.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"134 1-3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116707998","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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