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Scalable Design of Heterogeneous Networks
2017
IEEE Transactions on Automatic Control
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A systematic approach to the analysis and design of a class of large dynamical systems is presented. ...
Index Terms-Decentralised control, large dynamical systems. ...
Therefore robust analysis and controller design with respect to diagrams such as fig. 9 (b) can be conducted based on local network information, and is valid in a network of any size. ...
doi:10.1109/tac.2016.2615360
fatcat:2amus43dajbqvjiwxvcqgevvcq
Multiobjective Algebraic Synthesis of Neural Control Systems by Implicit Model Following
2009
IEEE Transactions on Neural Networks
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Index Terms-Closed-loop stability, dynamic control systems, linear matrix inequalities, neural control, output-feedback control, recurrent neural networks. ...
Therefore, this paper develops an algebraic synthesis procedure for designing dynamic output-feedback neural controllers that are closed-loop stable and meet the same performance objectives as any classical ...
CLOSED-LOOP STABILITY OF NEURAL CONTROLLER VIA IQCS By the synthesis problem formulation in Section IV, the neural-network-controlled system (26) has the same form as the IQC feedback interconnection ...
doi:10.1109/tnn.2008.2008332
pmid:19203887
fatcat:tk5kyanls5eubileh3za6idu4i
Robust reinforcement learning control with static and dynamic stability
2001
International Journal of Robust and Nonlinear Control
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We use Integral Quadratic Constraint (IQC) analysis [9] to determine the stability of the system consisting of the plant, the nominal controller, and the neural network with given weight values. ...
Section 3 summarizes our use of IQC's to analyze the static and dynamic stability of a system with a neuro-controller. ...
Our computation for IQC analysis is based on Matlab and Simulink. Figure 5 depicts the Simulink diagram for the nominal control system in Task 1. ...
doi:10.1002/rnc.670
fatcat:5zh56vhxx5dtdaxacjwovd62ky
Robust Contraction Analysis of Nonlinear Systems via Differential IQC
[article]
2019
arXiv
pre-print
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The uncertain system consists of a feedback interconnection of a nonlinear nominal system and uncertainties satisfying differential integral quadratic constraints. ...
We present a new approach to verifying contraction and L_2-gain of uncertain nonlinear systems, extending the well-known method of integral quadratic constraints. ...
The frequency-domain IQC theorem is then applied for robustness analysis of networked passive systems with delays. ...
arXiv:1903.08806v1
fatcat:ogt5zrzidrcxnbzpi4vfjfkrbi
Robust Genetic Circuit Design: A Mixed H∞ and IQC Analysis
2017
Advances in Mathematical Physics
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The IQC approach is introduced to analyze and guarantee the stability of the designed circuit. ...
This paper considers the problem of designing a genetic circuit which is robust to noise effect. To achieve this goal, a mixed H∞ and Integral Quadratic Constraints (IQC) approach is proposed. ...
Conflicts of Interest The authors declare that there are no conflicts of interest regarding the publication of this paper. ...
doi:10.1155/2017/5757943
fatcat:2ek6sq3dkzemzlhkiwd2ljjxha
Stability-certified reinforcement learning: A control-theoretic perspective
[article]
2018
arXiv
pre-print
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We investigate the important problem of certifying stability of reinforcement learning policies when interconnected with nonlinear dynamical systems. ...
Empirical evaluations on two decentralized control tasks, namely multi-flight formation and power system frequency regulation, demonstrate that the reinforcement learning agents can have high performance ...
Overview of IQC framework. The IQC theory is celebrated for systematic and efficient stability analysis of a large class of uncertain, dynamic, and interconnected systems [33] . ...
arXiv:1810.11505v1
fatcat:j3zokw3spradpln4rfylufdcoy
Robust Event-Based Control: Bridge Time-Domain Triggering and Frequency-Domain Uncertainties
[article]
2022
arXiv
pre-print
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Algorithms are provided to construct the robust controllers for the static, dynamic and IQC-based event triggering cases. ...
controller design problem can be transformed into the standard H_∞ synthesis problem of a linear system having the same order as the controlled plant. ...
Now, we are ready to put forward the IQC-based dynamic event-triggered control algorithm that is robust against additive dynamic uncertainty described in (2). ...
arXiv:2203.02342v1
fatcat:4ch2ryktbzhxxnrpd5u7wdqsfm
Localization of Control Synthesis Problem for Large-Scale Interconnected System Using IQC and Dissipativity Theories
[article]
2015
arXiv
pre-print
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A fairly unified description of control synthesis problem is given using integral quadratic constraints (IQC) and dissipativity. ...
This works looks promising as another way of looking at decentralized control and also as a way of doing performance specifications for components in a large-scale system. ...
The use of IQCs seems appealing since they provide a way of describing relationships between processes evolving in a complex dynamical system, in a form that is convenient for analysis. ...
arXiv:1504.03268v1
fatcat:pmv2ludu2nh2baqiksu4r37mxm
A Note on Passivity Based Stability Conditions for Bilateral Teleoperation
2011
IFAC Proceedings Volumes
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In this paper, passivity based stability conditions that are widely used in bilateral teleoperation context, are derived via Integral Quadratic Constraints (IQCs). ...
It is shown that the results can be carried over to robust control setting in a lossless fashion. ...
and Spong (2006) for a detailed survey and Hashtrudi-Zaad and Salcudean (2001) for passivity based controller architecture analysis). ...
doi:10.3182/20110828-6-it-1002.00665
fatcat:jftwwhvpcncodfy334aokfzb6e
Distributed Control with Integral Quadratic Constraints
2008
IFAC Proceedings Volumes
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The main contribution of this paper is to unify previous stability results in one general framework of Integral Quadratic Constraints (IQC) analysis and provide lower dimension controller synthesis conditions ...
A linear matrix inequality (LMI) based control synthesis algorithm for this class of interconnected systems was developed in [2], [3] using a multidimensional ...
DISTRIBUTED CONTROLLER SYNTHESIS CONDITIONS The synthesis part of this paper follows the same lines of derivation presented in [1] , which are based on the extended elimination lemma. ...
doi:10.3182/20080706-5-kr-1001.00097
fatcat:f5fboet7yfbtzkepwddpztbafe
Guaranteed Performance Leader-follower Control for Multi-agent Systems with Linear IQC-Constrained Coupling
[article]
2013
arXiv
pre-print
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This paper considers the leader-follower control problem for a linear multi-agent system with undirected topology and linear coupling subject to integral quadratic constraints (IQCs). ...
Using a coordinate transformation, the consensus analysis of the multi-agent system is recast as a decentralized robust control problem for an auxiliary interconnected large scale system. ...
This has allowed us to develop a procedure and sufficient conditions for the synthesis of the tracking protocol for the original system. ...
arXiv:1303.2721v1
fatcat:6zp4mdu4ordevahq7zzoiii7ui
Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints
[article]
2021
arXiv
pre-print
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We first present a derivation of hard Zames-Falb (ZF) α-IQCs involving general non-causal multipliers based on purely time-domain arguments and show that a parameterization of the ZF multiplier, suggested ...
We illustrate the theoretical results on a linear time invariant (LTI) model of a quadrotor, a non-minimum phase LTI plant and two LPV examples which show a clear benefit of using general non-causal dynamic ...
Extension of these analysis results to controller synthesis is a valuable direction to be pursued. ...
arXiv:2110.06369v1
fatcat:aiwnwebb45bz7ggvgilshxyyd4
Stability-Certified Reinforcement Learning: A Control-Theoretic Perspective
2020
IEEE Access
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the stability requirement into RL; • A new characterization of the safety set of policies based on point-wise IQC, as well as the analysis of its nonconservativeness property; • Numerical evaluation on ...
FIGURE 4 : 4 Learning performance of different control structures (1-layer neural network, 5-layer neural network, and linear controller). ...
STATEMENT AND PROOF OF LEMMA 6 Lemma 6. Suppose that D(Π, Λ) = inf r∈Π,y∈Λ |r − y| = 0. ...
doi:10.1109/access.2020.3045114
fatcat:4l66es3mfna3bkgbidv5nk3aqm
Structure Preserving Uncertainty Modelling and Robustness Analysis for Spatially Distributed Dissipative Dynamical Systems
2022
Mathematics
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Such systems are suitable for practical decentralized and distributed robust controller synthesis. ...
The paper deals with uncertainty modelling, robust stability and performance analysis of multi-input multi-output (MIMO) reduced order spatially distributed dissipative dynamical systems. ...
Acknowledgments: The first author is grateful to Joost Veenman, founder and CEO at Novantec B.V., for fruitful discussion and for providing access to "IQClab: A new IQC based toolbox for robustness analysis ...
doi:10.3390/math10122125
fatcat:im5urykcfbgypghwldto5byjlm
IQC based robust stability verification for a networked system with communication delays
2018
Science China Information Sciences
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Acknowledgements This work was supported by National Natural Science Foundation of China (Grant Nos. 61573209, 61733008). ...
Introduction Over the past decades, considerable research interests have been devoted to the stability analysis and controller design of large scale networked systems (LSNS) [1] [2] [3] [4] . ...
Problem formulation Consider a networked system Σ consisting of N linear time invariant dynamic subsystems. ...
doi:10.1007/s11432-017-9318-2
fatcat:dtustuq5unf6zfrpiq3qajcqsu
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