Distributed tracking control of leader-follower multi-agent systems under noisy measurement

In this paper, a distributed tracking control scheme with distributed estimators has been developed for a leader-follower multi-agent system with measurement noises and directed interconnection topology. It is supposed that each follower can only measure relative positions of its neighbors in a noisy environment, including the relative position of the second-order active leader. A neighbor-based tracking protocol together with distributed estimators is designed based on a novel velocity decomposition technique. It is shown that the closed loop tracking control system is stochastically stable in mean square and the estimation errors converge to zero in mean square as well. A simulation example is finally given to illustrate the performance of the proposed control scheme.Comment: 8 Pages, 3 figure

Convergence Rate Analysis of Distributed Gossip (Linear Parameter) Estimation: Fundamental Limits and Tradeoffs

The paper considers gossip distributed estimation of a (static) distributed random field (a.k.a., large scale unknown parameter vector) observed by sparsely interconnected sensors, each of which only observes a small fraction of the field. We consider linear distributed estimators whose structure combines the information \emph{flow} among sensors (the \emph{consensus} term resulting from the local gossiping exchange among sensors when they are able to communicate) and the information \emph{gathering} measured by the sensors (the \emph{sensing} or \emph{innovations} term.) This leads to mixed time scale algorithms--one time scale associated with the consensus and the other with the innovations. The paper establishes a distributed observability condition (global observability plus mean connectedness) under which the distributed estimates are consistent and asymptotically normal. We introduce the distributed notion equivalent to the (centralized) Fisher information rate, which is a bound on the mean square error reduction rate of any distributed estimator; we show that under the appropriate modeling and structural network communication conditions (gossip protocol) the distributed gossip estimator attains this distributed Fisher information rate, asymptotically achieving the performance of the optimal centralized estimator. Finally, we study the behavior of the distributed gossip estimator when the measurements fade (noise variance grows) with time; in particular, we consider the maximum rate at which the noise variance can grow and still the distributed estimator being consistent, by showing that, as long as the centralized estimator is consistent, the distributed estimator remains consistent.Comment: Submitted for publication, 30 page

Causal categories: relativistically interacting processes

A symmetric monoidal category naturally arises as the mathematical structure that organizes physical systems, processes, and composition thereof, both sequentially and in parallel. This structure admits a purely graphical calculus. This paper is concerned with the encoding of a fixed causal structure within a symmetric monoidal category: causal dependencies will correspond to topological connectedness in the graphical language. We show that correlations, either classical or quantum, force terminality of the tensor unit. We also show that well-definedness of the concept of a global state forces the monoidal product to be only partially defined, which in turn results in a relativistic covariance theorem. Except for these assumptions, at no stage do we assume anything more than purely compositional symmetric-monoidal categorical structure. We cast these two structural results in terms of a mathematical entity, which we call a `causal category'. We provide methods of constructing causal categories, and we study the consequences of these methods for the general framework of categorical quantum mechanics.Comment: 43 pages, lots of figure

Optimal Two Player LQR State Feedback With Varying Delay

This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. We extend known dynamic programming methods to accommodate this varying delay, and show that under suitable assumptions, the optimal control actions are linear in their information, and that the resulting controller has piecewise linear dynamics dictated by the current effective delay regime.Comment: Extended version of IFAC '14 submissio

A universe of processes and some of its guises

Our starting point is a particular `canvas' aimed to `draw' theories of physics, which has symmetric monoidal categories as its mathematical backbone. In this paper we consider the conceptual foundations for this canvas, and how these can then be converted into mathematical structure. With very little structural effort (i.e. in very abstract terms) and in a very short time span the categorical quantum mechanics (CQM) research program has reproduced a surprisingly large fragment of quantum theory. It also provides new insights both in quantum foundations and in quantum information, and has even resulted in automated reasoning software called `quantomatic' which exploits the deductive power of CQM. In this paper we complement the available material by not requiring prior knowledge of category theory, and by pointing at connections to previous and current developments in the foundations of physics. This research program is also in close synergy with developments elsewhere, for example in representation theory, quantum algebra, knot theory, topological quantum field theory and several other areas.Comment: Invited chapter in: "Deep Beauty: Understanding the Quantum World through Mathematical Innovation", H. Halvorson, ed., Cambridge University Press, forthcoming. (as usual, many pictures

Positivity of Lyapunov exponents for Anderson-type models on two coupled strings

We study two models of Anderson-type random operators on two deterministically coupled continuous strings. Each model is associated with independent, identically distributed four-by-four symplectic transfer matrices, which describe the asymptotics of solutions. In each case we use a criterion by Gol'dsheid and Margulis (i.e. Zariski denseness of the group generated by the transfer matrices in the group of symplectic matrices) to prove positivity of both leading Lyapunov exponents for most energies. In each case this implies almost sure absence of absolutely continuous spectrum (at all energies in the first model and for sufficiently large energies in the second model). The methods used allow for singularly distributed random parameters, including Bernoulli distributions.Comment: 19 page