We consider distributed parameter systems where the underlying dynamics are spatially invariant, and controls measurements distributed. These arise in many applications such as control of vehicular platoons, flow control, microelectromechanical (MEMS), smart structures, described by partial differential equations with constant coefficients measurements. For fully actuated problems involving quadratic criteria linear regulator (LQR), H/sub 2/ /spl infin//, optimal controllers can be obtained...

Planning the path of an autonomous, agile vehicle in a dynamic environment is very complex problem, especially when required to use its full maneuvering capabilities. Recent efforts aimed at using randomized algorithms for planning kinematic and vehicles have demonstrated considerable potential implementation on future autonomous platforms. This paper builds upon these by proposing architecture dynamical systems presence fixed moving obstacles. addresses constraints vehicle's motion, it...

Journal Article Bayesian Learning in Social Networks Get access Daron Acemoglu, Acemoglu Massachusetts Institute of Technology Search for other works by this author on: Oxford Academic Google Scholar Munther A. Dahleh, Dahleh Ilan Lobel, Lobel New York University Asuman Ozdaglar The Review Economic Studies, Volume 78, Issue 4, October 2011, Pages 1201–1236, https://doi.org/10.1093/restud/rdr004 Published: 07 March 2011 history Received: 01 November 2008 Accepted: December 2010

In this paper, we introduce an approach for the efficient solution of motion-planning problems time-invariant dynamical control systems with symmetries, such as mobile robots and autonomous vehicles, under a variety differential algebraic constraints on state inputs. Motion plans are described concatenation number well-defined motion primitives, selected from finite library. Rules primitives given in form regular language, defined through finite-state machine called Maneuver Automaton. We...

The paper proposes a framework for modeling and analysis of the dynamics supply, demand, clearing prices in power systems with real-time retail pricing information asymmetry. Characterized by passing on wholesale electricity to end consumers, creates closed-loop feedback system between physical layer market system. In absence carefully designed control law, such direct can increase sensitivity lower system's robustness uncertainty demand generation. It is shown that price volatility be...

We address the optimal energy storage management and sizing problem in presence of renewable dynamic pricing associated with electricity from grid. formulate as a stochastic program that aims to minimize long-run average cost used investment storage, if any, while satisfying all demand. model ramp constraints, conversion losses, dissipation losses an cost. prove existence policy under mild assumptions show it has dual threshold structure. Under this policy, we derive structural results,...

In this paper, we consider an abstract market model for demand response where a supply function bidding is applied to match power deficit or surplus. We characterize the resulting equilibria in competitive and oligopolistic markets propose distributed algorithms achieve equilibria. further show that equilibrium maximizes social welfare, has bounded efficiency loss under certain mild assumptions. also

In this work, we aim to design a data marketplace; robust real-time matching mechanism efficiently buy and sell training for Machine Learning tasks. While the monetization of pre-trained models is an essential focus industry today, there does not exist market price match buyers sellers while still addressing associated (computational other) complexity. The challenge in creating such stems from very nature as asset: (i) it freely replicable; (ii) its value inherently combinatorial due...

The operation of an autonomous vehicle in unknown, dynamic environment is a very complex problem, especially when the required to use its full maneuvering capabilities, and react real time changes operational environment. A possible approach reduce computational complexity motion planning problem for nonlinear, high dimensional system, based on quantization system dynamics, leading control architecture hybrid automaton, states which represent feasible trajectory primitives vehicle. paper...

This paper addresses fundamental limitations of feedback using information theoretic conservation laws and flux arguments. The has two parts. In the first part, we derive a law dictating that causal cannot reduce differential entropy inserted in loop by external sources. An interpretation this result is total randomness induced disturbances, as measured entropy, be reduced feedback; it can only re-allocated time or frequency (if well defined). Under asymptotic stationarity assumptions,...

In this paper we present a tracking controller for class of underactuated mechanical systems, based on backstepping procedure. This includes an approximation small helicopter dynamics. The need to avoid artificial singularities due the attitude representation is main driver behind control design presented in paper: achieve goal, will operate directly configuration manifold vehicle. provides asymptotic approximate model helicopters, and bounded when more complete models are considered....

Previous work has been concerned with minimizing the <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">l^{1}-</tex> norm of an error pulse response for discrete-time SISO [1] and MIMO [2] systems. In this paper we study problem L <sup xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> -norm impulse continuous-time This is quite different from in that irrational solutions are obtained even when data rational. Two methods suggested solution problem;...

We study the stabilizability of uncertain stochastic systems in presence finite capacity feedback. Motivated by structure communication networks, we consider a variable rate digital link. Such link is used to transmit state measurements between plant and controller. derive necessary sufficient conditions for internal external feedback loop. In accordance with previous publications, unstable plants possible if only link's average transmission above positive critical value. addition, stability...

The problem of optimal disturbance rejection bounded persistent disturbances is solved in the general nonsquare case. minimum value objective function can be obtained by solving a semi-infinite linear programming problem, and an iterative procedure for obtaining approximate solutions introduced. Application l/sup 1/-optimal to robustness discussed. A mixed sensitivity formulated shown guarantee good presence plant perturbations.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML"...

The paper proposes a mechanism for real-time pricing of electricity in smart power grids, with price stability as the primary concern. In previous publications authors argued that relaying wholesale market prices to end consumers creates closed loop feedback system which could be unstable or lack robustness, leading extreme volatility. this paper, mathematical model is developed characterization dynamic evolution supply, (elastic) demand, and clearing (locational marginal) under pricing. It...

Voltage control plays an important role in the operation of electricity distribution networks, especially when there is a large penetration renewable energy resources. In this paper, we focus on voltage through reactive power compensation and study how different information structures affect performance. particular, first show that only using measurements to determine insufficient maintain acceptable range. Then proposes two fully decentralized algorithms by slightly adding additional into...

Strong resilience properties of dynamical networks are analyzed for distributed routing policies. The latter characterized by the property that way outflow at a non-destination node gets split among its outgoing links is allowed to depend only on local information about current particle densities links. strong network defined as infimum sum link-wise flow capacity reductions making asymptotic total inflow destination strictly less than origin. A class policies responsive shown yield maximum...

For a large class of relay feedback systems (RFS) there will be limit cycle oscillations. Conditions to check existence and local stability cycles for these are well known. Global conditions, however, practically nonexistent. The paper presents conditions in the form linear matrix inequalities (LMIs) that, when satisfied, guarantee global asymptotic induced by relays with hysteresis time-invariant (LTI) stable systems. analysis consists finding quadratic surface Lyapunov functions Poincare...

A comprehensive study of the general l/sub 1/-optimal multiblock problem and a new linear programming algorithm for computing suboptimal controllers are presented. By formulating interpolation conditions in concise natural way, theory is developed simpler terms with minimum number assumptions. In addition, further insight gained into structure optimal solution, different classes problems distinguished. This leads to conceptually attractive, iterative method finding approximate solutions.<...

The intrinsic limitation of worst-case identification linear time-invariant systems using data corrupted by bounded disturbances, when the unknown plant is known to belong a given model set, studied. This done analyzing optimal asymptotic error achievable performing experiments any input and estimating algorithm. It shown that under some topological conditions on there an algorithm which asymptotically for input, characterized as function inputs. These results, hold metric disturbance norm,...

In this paper, we study fundamental limitations of disturbance attenuation feedback systems, under the assumption that controller has a finite horizon preview disturbance. contrast with prior work, extend Bode's integral equation for case where is made available to via general, capacity, communication system. Under asymptotic stationarity assumptions, our results show new limitation differs from only by constant, which quantifies information rate through absence stationarity, derive...

The paper proposes a mathematical model for the dynamic evolution of supply, demand, and clearing prices under class real-time pricing mechanisms characterized by passing on wholesale to end consumers. effects that such could pose stability efficiency entire system is investigated several criteria are presented. It shown relaying electricity consumers creates closed loop feedback which be unstable or lack robustness, leading extreme price volatility. Finally, result presented characterizes...