arXiv subjects

Claudio De Persis

Publications and source records attributed to Claudio De Persis.

95 records · Page 6Linked to original sources

arXiv2011

On a small-gain approach to distributed event-triggered control

In this paper the problem of stabilizing large-scale systems by distributed controllers, where the controllers exchange information via a shared limited communication medium is addressed. Event-triggered sampling schemes are proposed, where each system decides when to transmit new information across the network based on the crossing of some error thresholds. Stability of the interconnected large-scale system is inferred by applying a generalized small-gain theorem. Two variations of the event-triggered controllers which prevent the occurrence of the Zeno phenomenon are also discussed.

math.OC↗

arXiv2011

Discontinuities and hysteresis in quantized average consensus

We consider continuous-time average consensus dynamics in which the agents' states are communicated through uniform quantizers. Solutions to the resulting system are defined in the Krasowskii sense and are proven to converge to conditions of "practical consensus". To cope with undesired chattering phenomena we introduce a hysteretic quantizer, and we study the convergence properties of the resulting dynamics by a hybrid system approach.

math.OC↗

arXiv2010

Control of one-dimensional guided formations using coarse information

Motivated by applications in intelligent highway systems, the paper studies the problem of guiding mobile agents in a one-dimensional formation to their desired relative positions. Only coarse information is used which is communicated from a guidance system that monitors in real time the agents' motions. The desired relative positions are defined by the given distance constraints between the agents under which the overall formation is rigid in shape and thus admits locally a unique realization. It is shown that even when the guidance system can only transmit at most four bits of information to each agent, it is still possible to design control laws to guide the agents to their desired positions. We further delineate the thin set of initial conditions for which the proposed control law may fail using the example of a three-agent formation. Tools from non-smooth analysis are utilized for the convergence analysis.

math.OC↗

arXiv2007

Minimal data rate stabilization of nonlinear systems over networks with large delays

Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller which guarantees stability, in spite of the measurement noise due to the quantization, and of an arbitrarily large delay which affects the communication channel. The rate at which feedback packets are transmitted from the sensors to the actuators is shown to be arbitrarily close to the infimal one.

math.OC↗

arXiv2005

Remote Tracking via Encoded Information for Nonlinear Systems

The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty due to the presence of the communication channel is counteracted by a suitable choice of the parameters of the regulator.

math.OC↗