316 citations · 496 across the 17 of their papers we have counts for
7 papers · 1 filter
Co-Design of Lipschitz Nonlinear Systems
Prasad Vilas Chanekar, Nikhil Chopra
Empirical experiences have shown that simultaneous (rather than conventional sequential) plant and controller design procedure leads to an improvement in performance and saving of…
Privacy of Agents' Costs in Peer-to-Peer Distributed Optimization
Nirupam Gupta, Nikhil Chopra
In this paper, we propose a protocol that preserves (statistical) privacy of agents' costs in peer-to-peer distributed optimization against a passive adversary that corrupts certai…
Information-Theoretic Privacy in Distributed Average Consensus
Nirupam Gupta, Jonathan Katz, Nikhil Chopra
We present a distributed average consensus protocol that preserves the privacy of agents' inputs. Unlike the differential privacy mechanisms, the presented protocol does not affect…
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
J. Yamauchi, M. W. S. Atman, T. Hatanaka +2
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative contr…
Passivity-Based Distributed Optimization with Communication Delays Using PI Consensus Algorithm
Takeshi Hatanaka, Nikhil Chopra, Takayuki Ishizaki +1
In this paper, we address a class of distributed optimization problems in the presence of inter-agent communication delays based on passivity. We first focus on unconstrained distr…
Decentralized Event-Triggering for Control of Nonlinear Systems
Pavankumar Tallapragada, Nikhil Chopra
This paper considers nonlinear systems with full state feedback, a central controller and distributed sensors not co-located with the central controller. We present a methodology f…
On Event Triggered Tracking for Nonlinear Systems
Pavankumar Tallapragada, Nikhil Chopra
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with…