17,272 research outputs found
Distributed Robust Set-Invariance for Interconnected Linear Systems
We introduce a class of distributed control policies for networks of
discrete-time linear systems with polytopic additive disturbances. The
objective is to restrict the network-level state and controls to user-specified
polyhedral sets for all times. This problem arises in many safety-critical
applications. We consider two problems. First, given a communication graph
characterizing the structure of the information flow in the network, we find
the optimal distributed control policy by solving a single linear program.
Second, we find the sparsest communication graph required for the existence of
a distributed invariance-inducing control policy. Illustrative examples,
including one on platooning, are presented.Comment: 8 Pages. Submitted to American Control Conference (ACC), 201
Optimal network topologies: Expanders, Cages, Ramanujan graphs, Entangled networks and all that
We report on some recent developments in the search for optimal network
topologies. First we review some basic concepts on spectral graph theory,
including adjacency and Laplacian matrices, and paying special attention to the
topological implications of having large spectral gaps. We also introduce
related concepts as ``expanders'', Ramanujan, and Cage graphs. Afterwards, we
discuss two different dynamical feautures of networks: synchronizability and
flow of random walkers and so that they are optimized if the corresponding
Laplacian matrix have a large spectral gap. From this, we show, by developing a
numerical optimization algorithm that maximum synchronizability and fast random
walk spreading are obtained for a particular type of extremely homogeneous
regular networks, with long loops and poor modular structure, that we call
entangled networks. These turn out to be related to Ramanujan and Cage graphs.
We argue also that these graphs are very good finite-size approximations to
Bethe lattices, and provide almost or almost optimal solutions to many other
problems as, for instance, searchability in the presence of congestion or
performance of neural networks. Finally, we study how these results are
modified when studying dynamical processes controlled by a normalized (weighted
and directed) dynamics; much more heterogeneous graphs are optimal in this
case. Finally, a critical discussion of the limitations and possible extensions
of this work is presented.Comment: 17 pages. 11 figures. Small corrections and a new reference. Accepted
for pub. in JSTA
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