The Distributed Dual Ascent Algorithm is Robust to Asynchrony

The distributed dual ascent is an established algorithm to solve strongly convex multi-agent optimization problems with separable cost functions, in the presence of coupling constraints. In this letter, we study its asynchronous counterpart. Specifically, we assume that each agent only relies on the outdated information received from some...

On the structural target controllability of undirected networks

In this article, we study the target controllability problem of networked dynamical systems,in which we are tasked to steer a subset of network nodes toward a desired objective. More specifically, we derive necessary and sufficient conditions for the structural target controllability of linear time-invariant (LTI) systems with symmetric state...

Fully distributed Nash equilibrium seeking over time-varying communication networks with linear convergence rate

We design a distributed algorithm for learning Nash equilibria over time-varying communication networks in a partial-decision information scenario, where each agent can access its own cost function and local feasible set, but can only observe the actions of some neighbors. Our algorithm is based on projected pseudo-gradient dynamics, augmented...

Scalable Traffic Models for Scheduling of Linear Periodic Event-Triggered Controllers

This paper addresses the problem of modeling and scheduling the transmissions generated by multiple event-triggered control (ETC) loops sharing a network. We present a method to build a finite-state similar model of the traffic generated by periodic ETC (PETC), which by construction mitigates the combinatorial explosion that is typical of...

Multi-Vehicle Automated Driving as a Generalized Mixed-Integer Potential Game

This paper considers the multi-vehicle automated driving coordination problem. We develop a distributed, hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on multi-lane highways, where each dynamics is modeled as a mixed-logical–dynamical system. We formalize the coordination problem as a generalized...

Towards Traffic Bisimulation of Linear Periodic Event-Triggered Controllers

We provide a method to construct finite abstractions exactly bisimilar to linear systems under a modified periodic event-triggered control (PETC), when considering as output the inter-event times they generate. Assuming that the initial state lies on a known compact set, these finite-state models can exactly predict all sequences of sampling...

Self-triggered output feedback control for perturbed linear systems

In this work we propose a Self-Triggered Control (STC) strategy for linear time-invariant (LTI) systems subject to bounded disturbances, using LTI discrete-time dynamic output-feedback. The STC logic computes worst-case triggering times from available information, based on a Periodic Event Triggered Control (PETC) triggering function. In the...

A distributed networked approach for fault detection of large-scale systems

Networked systems present some key new challenges in the development of fault-diagnosis architectures. This paper proposes a novel distributed networked fault detection methodology for large-scale interconnected systems. The proposed formulation incorporates a synchronization methodology with a filtering approach in order to reduce the effect...

An adaptive switched control approach to heterogeneous platooning with inter-vehicle communication losses

The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe...

Communication schemes for centralized and decentralized event-triggered control systems

Energy constraint long-range wireless sensor/actuator-based solutions are theoretically the perfect choice to support the next generation of city-scale cyber-physical systems. Traditional systems adopt periodic control which increases network congestion and actuations while burdens the energy consumption. Recent control theory studies...