20 citations · 29 across the 27 of their papers we have counts for
28 papers
Fully Decentralized and Safety-Aware Multi-Agent Reinforcement Learning for Control on Networks
Theodore Rogalski, Shirantha Welikala
This paper develops a safe and fully decentralized multi-agent reinforcement learning (MARL) algorithm to solve a class of discrete-time control problems on networks, including the…
Model-Based and Data-Driven Hierarchical Control and Topology Co-Design for Robust Networked Systems
Shirantha Welikala, Zihao Song, Hai Lin +1
In this paper, we consider a class of networked systems comprising an interconnected set of linear subsystems, disturbance inputs, and performance outputs. Using dissipativity theo…
Dissipativity-Based Distributed Control and Communication Topology Co-Design for Nonlinear DC Microgrids
Mohammad Javad Najafirad, Shirantha Welikala
This paper presents a dissipativity-based distributed droop-free control and communication topology co-design framework for voltage regulation and current sharing in DC microgrids…
Modeling PWM-Time-SOC Interaction in a Simulated Robot
Vidyut Pradeep, Shirantha Welikala
Accurate prediction of battery state of charge is needed for autonomous robots to plan movements without using up all available power. This work develops a physics and data-informe…
Funnel-Based Online Recovery Control for Nonlinear Systems With Unknown Dynamics
Zihao Song, Shirantha Welikala, Panos J. Antsaklis +1
In this paper, we focus on recovery control of nonlinear systems from attacks or failures. The main challenges of this problem lie in (1) learning the unknown dynamics caused by at…
Dissipativity-Based Synthesis of Distributed Control and Communication Topology Co-Design for AC Microgrids
Mohammad Javad Najafirad, Shirantha Welikala, Lei Wu +1
This paper introduces a dissipativity-based framework for the joint design of distributed controllers and communication topologies in AC microgrids (MGs), providing robust performa…
Hierarchical Analysis and Control of Epidemic Spreading over Networks using Dissipativity and Mesh Stability
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Analyzing and controlling spreading processes are challenging problems due to the involved non-linear node (subsystem) dynamics, unknown disturbances, complex interconnections, and…
Mesh Stability Guaranteed Rigid Body Networks Using Control and Topology Co-Design
Zihao Song, Shirantha Welikala, Panos J. Antsaklis +1
Merging and splitting are of great significance for rigid body networks in making such networks reconfigurable. The main challenges lie in simultaneously ensuring the compositional…
Dissipativity-Based Distributed Control and Communication Topology Co-Design for DC Microgrids with ZIP Loads
Mohammad Javad Najafirad, Shirantha Welikala
This paper presents a novel dissipativity-based distributed droop-free control and communication topology co-design approach for voltage regulation and current sharing in DC microg…
Dissipativity-Based Distributed Control and Communication Topology Co-Design for Voltage Regulation and Current Sharing in DC Microgrids
Mohammad Javad Najafirad, Shirantha Welikala
This paper presents a novel dissipativity-based distributed droop-free control approach for voltage regulation and current sharing in DC microgrids (MGs) comprised of an interconne…
Inventory Consensus Control in Supply Chain Networks using Dissipativity-Based Control and Topology Co-Design
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Recent global and local phenomena have exposed vulnerabilities in critical supply chain networks (SCNs), drawing significant attention from researchers across various fields. Typic…
Dissipativity-Based Distributed Droop-Free Controller and Communication Topology Co-Design for DC Microgrids
Mohammad Javad Najafirad, Shirantha Welikala
This paper presents a novel dissipativity-based distributed droop-free control approach for the voltage regulation problem in DC microgrids (MGs) comprised of an interconnected set…
Performance-Guaranteed Solutions for Multi-Agent Optimal Coverage Problems using Submodularity, Curvature, and Greedy Algorithms
Shirantha Welikala, Christos G. Cassandras
We consider a class of multi-agent optimal coverage problems in which the goal is to determine the optimal placement of a group of agents in a given mission space so that they maxi…
Dissipativity-Based Decentralized Co-Design of Distributed Controllers and Communication Topologies for Vehicular Platoons
Shirantha Welikala, Zihao Song, Panos J. Antsaklis +1
Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication…
Smooth Robustness Measures for Symbolic Control Via Signal Temporal Logic
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
Symbolic control problems aim to synthesize control policies for dynamical systems under complex temporal specifications. For such problems, Signal Temporal Logic (STL) is increasi…
Decentralized and Compositional Interconnection Topology Synthesis for Linear Networked Systems
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
In this paper, we consider networked systems comprised of interconnected sets of linear subsystems and propose a decentralized and compositional approach to stabilize or dissipativ…
Centralized and Decentralized Techniques for Analysis and Synthesis of Non-Linear Networked Systems
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
In this paper, we develop centralized and decentralized techniques for analyzing and synthesizing networked systems comprised of interconnected sets of non-linear subsystems - only…
Distributed Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions
Zihao Song, Shirantha Welikala, Panos J. Antsaklis +1
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaini…
A Decentralized Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections
Shirantha Welikala, Hai Lin, Panos Antsaklis
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system…
On-line Estimation of Stability and Passivity Metrics
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
We consider the problem of on-line evaluation of critical characteristic parameters such as the L_2-gain (L2G), input feedforward passivity index (IFP) and output feedback passivit…
Robust Approximate Simulation for Hierarchical Control of Piecewise Affine Systems under Bounded Disturbances
Zihao Song, Vince Kurtz, Shirantha Welikala +2
Piecewise affine (PWA) systems are widely applied in many practical cases such as the control of nonlinear systems and hybrid dynamics. However, most of the existing PWA control me…
Minimax Multi-Agent Persistent Monitoring of a Network System
Samuel C. Pinto, Shirantha Welikala, Sean B. Andersson +2
We investigate the problem of optimally observing a finite set of targets using a mobile agent over an infinite time horizon. The agent is tasked to move in a network-constrained s…
Event-Driven Receding Horizon Control of Energy-Aware Dynamic Agents For Distributed Persistent Monitoring
Shirantha Welikala, Christos G. Cassandras
This paper addresses the persistent monitoring problem defined on a network where a set of nodes (targets) needs to be monitored by a team of dynamic energy-aware agents. The objec…
Event-Driven Receding Horizon Control for Distributed Estimation in Network Systems
Shirantha Welikala, Christos G. Cassandras
We consider the problem of estimating the states of a distributed network of nodes (targets) through a team of cooperating agents (sensors) persistently visiting the nodes so that…