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CDC
2015
IEEE
3 years 8 days ago
Computation of linear comparison equations for stability analysis of interconnected systems
— Sum-of-squares (SOS) methods have been shown to be very useful in computing polynomial Lyapunov functions for systems of reasonably small size. However for large scale systems ...
Soumya Kundu, Marian Anghel
CDC
2015
IEEE
3 years 8 days ago
Controller synthesis with inductive proofs for piecewise linear systems: An SMT-based algorithm
— We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus ...
Zhenqi Huang, Yu Wang, Sayan Mitra, Geir E. Duller...
CDC
2015
IEEE
3 years 8 days ago
Distributed coordination protocols for aggregation and navigation in multi-agent systems under local directed interactions
Abstract— This paper proposes a velocity coordination protocol for the control of multiple unicycle agents, which aims to address two distinct scenarios in a unified manner. The...
Dimitra Panagou
CDC
2015
IEEE
3 years 8 days ago
Coherence and convergence rate in networked dynamical systems
— We study two metrics in stochastic consensus dynamics with leaders or stubborn agents: network coherence (defined in terms of the system H2 and H∞ norms), and convergence ra...
Mohammad Pirani, Ebrahim Moradi Shahrivar, Shreyas...
CDC
2015
IEEE
3 years 8 days ago
The effect of delayed side information on fundamental limitations of disturbance attenuation
— In this paper, we present a fundamental limitation of disturbance attenuation in discrete-time single-input singleoutput (SISO) feedback systems when the controller has delayed...
Yingbo Zhao, Vijay Gupta, Jorge Cortés
CDC
2015
IEEE
3 years 8 days ago
Periodic event-triggered average consensus over directed graphs
— This paper considers a multi-agent consensus problem over strongly connected and balanced directed graphs. Unlike many works that consider continuous or periodic communication ...
Xiangyu Meng, Lihua Xie, Yeng Chai Soh, Cameron No...
CDC
2015
IEEE
3 years 8 days ago
Touring invariant-set boundaries of a two-vortex system using streamline control
— This paper presents a path-planning control for an intermittently actuated oceanographic vehicle in a timeinvariant flow field based on Lagrangian measurement data. The ocean...
Francis D. Lagor, Kayo Ide, Derek A. Paley
CDC
2015
IEEE
3 years 8 days ago
A passive guidance system for a robotic walking assistant using brakes
Abstract— Robotic walkers are a promising techological direction to improve the mobility of older adults. In this paper, we propose a guidance mechanism based on the differential...
Daniele Fontanelli, Antonio Giannitrapani, Luigi P...
CDC
2015
IEEE
3 years 8 days ago
Prediction-based control for nonlinear state- and input-delay systems with the aim of delay-robustness analysis
— This paper investigates prediction-based control for nonlinear systems subject to both pointwise input- and (potentially) distributed state-delays. We address infinity-norm st...
Delphine Bresch-Pietri, Nicolas Petit, Miroslav Kr...
CDC
2015
IEEE
3 years 8 days ago
Nonstochastic information concepts for estimation and control
— Entropy and information are crucial notions in stochastic communication systems. However, they have arguably not been as central in control theory, which has a rich tradition o...
Girish N. Nair
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