17 papers
Consensus-Based Multi-Objective Controller Synthesis
Ingyu Jang, Leila J. Bridgeman
Despite longstanding interest, controller synthesis remains challenging for networks of heterogeneous, nonlinear agents. Moreover, the requirements for computational scalability an…
Communication-Aware Dissipative Output Feedback Control
Ingyu Jang, Leila J. Bridgeman
Communication-aware control is essential to reduce costs and complexity in large-scale networks. This work proposes a method to design dissipativity-augmented output feedback contr…
See, Plan, Cut: MPC-Based Autonomous Volumetric Robotic Laser Surgery with OCT Guidance
Ravi Prakash, Vincent Y. Wang, Arpit Mishra +5
Robotic laser systems offer the potential for sub-millimeter, non-contact, high-precision tissue resection, yet existing platforms lack volumetric planning and intraoperative feedb…
Local Dissipativity Analysis of Nonlinear Systems
Amy K. Strong, Leila Bridgeman
Dissipativity is an input-output (IO) characterization of nonlinear systems that enables compositional robust control through Vidyasagar's Network Dissipativity Theorem (VDNT). How…
Communication-Aware Dissipative Control for Networks of Heterogeneous Nonlinear Agents
Ingyu Jang, Leila J. Bridgeman
Communication-aware control is essential to reduce costs and complexity in large-scale networks. However, it is challenging to simultaneously determine a sparse communication topol…
Dissipativity and L2 Stability of Large-Scale Networks with Changing Interconnections
Ingyu Jang, Leila J. Bridgeman
In this paper, the L2 stability of switched networks is studied based on the QSR-dissipativity of each agent. While the integration of dissipativity with switched systems has recei…