kth.sePublications
Change search
Link to record
Permanent link

Direct link
Dimarogonas, Dimos V.ORCID iD iconorcid.org/0000-0001-7309-8086
Alternative names
Publications (10 of 438) Show all publications
Seidel, M., Hertneck, M., Yu, P., Linsenmayer, S., Dimarogonas, D. V. & Allgoewer, F. (2024). A Window-Based Periodic Event-Triggered Consensus Scheme for Multiagent Systems. IEEE Transactions on Control of Network Systems, 11(1), 414-426
Open this publication in new window or tab >>A Window-Based Periodic Event-Triggered Consensus Scheme for Multiagent Systems
Show others...
2024 (English)In: IEEE Transactions on Control of Network Systems, E-ISSN 2325-5870, Vol. 11, no 1, p. 414-426Article in journal (Refereed) Published
Abstract [en]

In this article, we consider the periodic event-triggered consensus problem for single-integrator multiagent systems. In existing approaches, consensus is typically achieved by trigger schemes enforcing a monotone decrease of a Lyapunov function. Such trigger schemes may, however, result in more transmissions than are actually required to ensure consensus or meet certain performance specifications. This is because a monotone decrease may be a rather conservative condition for a given Lyapunov function in an event-triggered setting. To overcome the conservativity, we propose a novel window-based trigger scheme, which allows us to leverage existing trigger schemes from the literature to derive less conservative ones. This is achieved by taking the past system behavior into account and allowing a temporary increase of the Lyapunov function as long as a decreasing tendency is still guaranteed. For that, information from previous time steps within certain time windows is considered. We provide an explicit bound on the evolution of the Lyapunov function that is the same for the window-based scheme and the (monotone) original trigger schemes. To illustrate the benefits of the window-based scheme, we validate its efficacy through a comprehensive simulation study and demonstrate that the scheme typically reduces the average update rate of the underlying communication structure in comparison to the original trigger schemes.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2024
Keywords
Lyapunov methods, Eigenvalues and eigenfunctions, Behavioral sciences, Upper bound, Convergence, Symmetric matrices, Network systems, Communication networks, event-triggered consensus, networked control systems, networks of autonomous agents
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-345949 (URN)10.1109/TCNS.2023.3285863 (DOI)001188324100020 ()2-s2.0-85162645216 (Scopus ID)
Note

QC 20240502

Available from: 2024-05-02 Created: 2024-05-02 Last updated: 2024-05-02Bibliographically approved
Yu, P., Tan, X. & Dimarogonas, D. V. (2024). Continuous-Time Control Synthesis Under Nested Signal Temporal Logic Specifications. IEEE Transactions on robotics, 40, 2272-2286
Open this publication in new window or tab >>Continuous-Time Control Synthesis Under Nested Signal Temporal Logic Specifications
2024 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 40, p. 2272-2286Article in journal (Refereed) Published
Abstract [en]

In this work, we propose a novel approach for the continuous-time control synthesis of nonlinear systems under nested signal temporal logic (STL) specifications. While the majority of existing literature focuses on control synthesis for STL specifications without nested temporal operators, addressing nested temporal operators poses a notably more challenging scenario and requires new theoretical advancements. Our approach hinges on the concepts of STL tree (sTLT) and control barrier function (CBF). Specifically, we detail the construction of an sTLT from a given STL formula and a continuous-time dynamical system, the sTLT semantics (i.e., satisfaction condition), and the equivalence or underapproximation relation between sTLT and STL. Leveraging the fact that the satisfaction condition of an sTLT is essentially keeping the state within certain sets during certain time intervals, it provides explicit guidelines for the CBF design. The resulting controller is obtained through the utilization of an online CBF-based program coupled with an event-triggered scheme for online updating the activation time interval of each CBF, with which the correctness of the system behavior can be established by construction. We demonstrate the efficacy of the proposed method for single-integrator and unicycle models under nested STL formulas.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2024
Keywords
Dynamical systems, Robots, Semantics, Behavioral sciences, Trajectory, Nonlinear systems, Transforms, Continuous-time nonlinear systems, control barrier function (CBF), control synthesis, signal temporal logic (STL)
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-345929 (URN)10.1109/TRO.2024.3353081 (DOI)001189506800003 ()2-s2.0-85182925019 (Scopus ID)
Note

QC 20240502

Available from: 2024-05-02 Created: 2024-05-02 Last updated: 2024-05-02Bibliographically approved
Chen, F., Sewlia, M. & Dimarogonas, D. V. (2024). Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints. Annual Reviews in Control, 57, Article ID 100946.
Open this publication in new window or tab >>Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints
2024 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 57, article id 100946Article, review/survey (Refereed) Published
Abstract [en]

A current trend in research on multi -agent control systems is to consider high-level task specifications that go beyond traditional control objectives and take into account the heterogeneity of each agent in the system, i.e., the different capabilities of the agents in terms of actuation, sensing, communication and computation. This article provides an overview of our work on the problem of control of heterogeneous multi -agent systems under both spatial and temporal constraints as well as our perspective on the challenges and open problems associated with the consideration of such spatiotemporal constraints. Initially, we review a set of control strategies introduced by the authors addressing the satisfaction of cooperative tasks such as formation control as well as individual objectives such as reference tracking. The satisfaction of those objectives is ensured using prescribed performance control. Building upon these approaches we then review recent results on control under high-level spatiotemporal objectives expressed in Signal Temporal Logic, a formal language that allows to express complex spatial tasks that must be satisfied within pre -defined deadlines. Theoretical results considering multi -agent systems with various capabilities under spatiotemporal constraints are presented.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Heterogeneous multi-agent system, Leader-follower network, Spatiotemporal constraints, Prescribed performance control
National Category
Computer Sciences
Identifiers
urn:nbn:se:kth:diva-346869 (URN)10.1016/j.arcontrol.2024.100946 (DOI)001220686100001 ()2-s2.0-85187958158 (Scopus ID)
Note

QC 20240527

Available from: 2024-05-27 Created: 2024-05-27 Last updated: 2024-05-27Bibliographically approved
Charitidou, M. & Dimarogonas, D. V. (2024). Distributed MPC With Continuous-Time STL Constraint Satisfaction Guarantees. IEEE Control Systems Letters, 8, 211-216
Open this publication in new window or tab >>Distributed MPC With Continuous-Time STL Constraint Satisfaction Guarantees
2024 (English)In: IEEE Control Systems Letters, E-ISSN 2475-1456, Vol. 8, p. 211-216Article in journal (Refereed) Published
Abstract [en]

In this letter a distributed model predictive control scheme (dMPC) is proposed for a multi-agent team that is subject to a set of time-constrained spatial tasks encoded in Signal Temporal Logic (STL). Here, the agents are subject to both individual and collaborative STL tasks. In order to ensure the satisfaction of the collaborative tasks while avoiding the computational burden of a centralized problem, we propose a sequential dMPC scheme and show the recursive feasibility property of the framework given appropriately designed terminal ingredients. The resulting MPC problems are solved in discrete-time yet continuous-time satisfaction of the STL tasks is ensured with appropriate tightening of the constraint sets.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2024
Keywords
Task analysis, Collaboration, Safety, Robustness, Time factors, Semantics, Linear systems, Model predictive control, multi-agent systems, signal temporal logic, sampled-data control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-344506 (URN)10.1109/LCSYS.2024.3361971 (DOI)001168617700001 ()2-s2.0-85184809102 (Scopus ID)
Note

QC 20240319

Available from: 2024-03-19 Created: 2024-03-19 Last updated: 2024-05-21Bibliographically approved
Charitidou, M. & Dimarogonas, D. V. (2024). Edge-based funnel control for multi-agent systems using relative position measurements. In: : . Paper presented at European Control Conference 2024, 25 - 28 June, 2024 Stockholm | Sweden.
Open this publication in new window or tab >>Edge-based funnel control for multi-agent systems using relative position measurements
2024 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this work we consider the problem of control under Signal Temporal Logic specifications (STL) that depend on relative position information among neighboring agents. In particular, we consider STL tasks for given pairs of agents whose satisfaction is translated into a set of setpoint output tracking problems with transient and steady-state constraints. Contrary to existing work the proposed framework does not require initial satisfaction of the funnel constraints but can ensure their satisfaction within a pre-specified finite time. Given a tree topology in which agents sharing a STL task form an edge, we show that the resulting control laws ensure the satisfaction of the STL task as well as boundedness of all closed loop signals using only local information.

National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-346687 (URN)
Conference
European Control Conference 2024, 25 - 28 June, 2024 Stockholm | Sweden
Note

QC 20240531

Available from: 2024-05-22 Created: 2024-05-22 Last updated: 2024-05-31Bibliographically approved
Wu, C. & Dimarogonas, D. V. (2024). From Partial and Horizontal Contraction to k-Contraction. IEEE Transactions on Automatic Control, 69(4), 2391-2398
Open this publication in new window or tab >>From Partial and Horizontal Contraction to k-Contraction
2024 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 69, no 4, p. 2391-2398Article in journal (Refereed) Published
Abstract [en]

A geometric generalization of contraction theory called k-contraction was recently developed using k-compound matrices. In this article, we focus on the relations between k-contraction and two other generalized contraction frameworks: partial contraction (also known as virtual contraction) and horizontal contraction. We show that in general these three notions of contraction are different. We here provide new sufficient conditions guaranteeing that partial contraction implies horizontal contraction, and that horizontal contraction implies k-contraction. We use the Andronov-Hopf oscillator to demonstrate some of the theoretical results.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2024
Keywords
Andronov-Hopf oscillator, compound matrix, horizontal contraction, k-contraction, partial contraction, virtual contraction
National Category
Physiology Control Engineering
Identifiers
urn:nbn:se:kth:diva-345926 (URN)10.1109/TAC.2023.3303037 (DOI)001194518600012 ()2-s2.0-85167818580 (Scopus ID)
Note

QC 20240502

Available from: 2024-05-02 Created: 2024-05-02 Last updated: 2024-07-03Bibliographically approved
Wu, C., Zhang, M. & Dimarogonas, D. V. (2024). On disturbance propagation in vehicular platoons with different communication ranges. Automatica, 165, Article ID 111665.
Open this publication in new window or tab >>On disturbance propagation in vehicular platoons with different communication ranges
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 165, article id 111665Article in journal (Refereed) Published
Abstract [en]

In the control of vehicular platoons, the disturbances acting on one vehicle can propagate and affect other vehicles. If the disturbances do not amplify along the vehicular string, then it is called string stable. However, it is usually difficult to achieve string stability with a distributed control setting, especially when a constant spacing policy is considered. This note considers the string unstable cases and studies disturbance propagation in a nonlinear vehicular platoon consisting of n+1 vehicles where the (virtual) leading vehicle provides the reference for a constant spacing policy. Apart from the communications between consecutive vehicles, we also assume that each vehicle can receive information from r neighbors ahead, that is, the vehicular platoon has communication range r. Inspired by existing control protocols, a unified distributed nonlinear control law with a variable r is proposed to facilitate the analysis. For the maximal overshoot of the inter-vehicular spacing errors, we explicitly show that the effect of disturbances, including the external disturbances acting on each vehicle and the acceleration of the leading vehicle, is scaled by O([Formula presented]) for a fixed n. This implies that disturbance propagation can be reduced by increasing communication range. Numerical simulation is provided to illustrate the main results.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Contraction, Input-to-state stability, Matrix measure, Platoon, String stability
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-345749 (URN)10.1016/j.automatica.2024.111665 (DOI)001229072000001 ()2-s2.0-85189928651 (Scopus ID)
Note

QC 20240424

Available from: 2024-04-18 Created: 2024-04-18 Last updated: 2024-06-04Bibliographically approved
Tan, X. & Dimarogonas, D. V. (2024). On the undesired equilibria induced by control barrier function based quadratic programs. Automatica, 159, Article ID 111359.
Open this publication in new window or tab >>On the undesired equilibria induced by control barrier function based quadratic programs
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 159, article id 111359Article in journal (Refereed) Published
Abstract [en]

In this paper, we analyze the system behavior for general nonlinear control-affine systems when a control barrier function-induced quadratic program-based controller is employed for feedback. In particular, we characterize the existence and locations of possible equilibrium points of the closedloop system and also provide analytical results on how design parameters affect them. Based on this analysis, a simple modification on the existing quadratic program-based controller is provided, which, without any assumptions other than those taken in the original program, inherits the safety set forward invariance property, and further guarantees the complete elimination of undesired equilibrium points in the interior of the safety set as well as one type of boundary equilibrium points, and local asymptotic stability of the origin. Numerical examples are given alongside the theoretical discussions.

Place, publisher, year, edition, pages
Elsevier BV, 2024
Keywords
Control barrier functions, Lyapunov method, Nonlinear analysis
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-340435 (URN)10.1016/j.automatica.2023.111359 (DOI)001102733800001 ()2-s2.0-85174902432 (Scopus ID)
Note

QC 20231205

Available from: 2023-12-05 Created: 2023-12-05 Last updated: 2023-12-05Bibliographically approved
Chen, F. & Dimarogonas, D. V. (2024). On topological conditions for enabling transient control in leader–follower networks. Automatica, 166, Article ID 111693.
Open this publication in new window or tab >>On topological conditions for enabling transient control in leader–follower networks
2024 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 166, article id 111693Article in journal (Refereed) Published
Abstract [en]

We derive necessary and sufficient conditions for leader–follower multi-agent systems such that we can further apply prescribed performance control to achieve the desired formation while satisfying certain transient constraints. A leader–follower framework is considered in the sense that a group of agents with external inputs are selected as leaders in order to drive the group of followers in a way that the entire system can achieve target formation within certain prescribed performance transient bounds. We first derive necessary conditions on the leader–follower graph topology under which the target formation together with the prescribed performance guarantees can be fulfilled. Afterwards, the derived necessary conditions are extended to necessary and sufficient conditions for leader–follower formation control under transient constraints. Finally, the proposed results are illustrated with simulation examples.

Place, publisher, year, edition, pages
Elsevier Ltd, 2024
Keywords
Leader–follower network, Multi-agent systems, Necessary and sufficient condition, Prescribed performance control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-346837 (URN)10.1016/j.automatica.2024.111693 (DOI)001240345000001 ()2-s2.0-85192671640 (Scopus ID)
Note

QC 20240617

Available from: 2024-05-24 Created: 2024-05-24 Last updated: 2024-06-17Bibliographically approved
Yu, P., Gao, Y., Jiang, F., Johansson, K. H. & Dimarogonas, D. V. (2024). Online control synthesis for uncertain systems under signal temporal logic specifications. The international journal of robotics research, 43(6), 765-790
Open this publication in new window or tab >>Online control synthesis for uncertain systems under signal temporal logic specifications
Show others...
2024 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 43, no 6, p. 765-790Article in journal (Refereed) Published
Abstract [en]

Signal temporal logic (STL) formulas have been widely used as a formal language to express complex robotic specifications, thanks to their rich expressiveness and explicit time semantics. Existing approaches for STL control synthesis suffer from limited scalability with respect to the task complexity and lack of robustness against the uncertainty, for example, external disturbances. In this paper, we study the online control synthesis problem for uncertain discrete-time systems subject to STL specifications. Different from existing techniques, we propose an approach based on STL, reachability analysis, and temporal logic trees. First, based on a real-time version of STL semantics, we develop the notion of tube-based temporal logic tree (tTLT) and its recursive (offline) construction algorithm. We show that the tTLT is an under-approximation of the STL formula, in the sense that a trajectory satisfying a tTLT also satisfies the corresponding STL formula. Then, an online control synthesis algorithm is designed using the constructed tTLT. It is shown that when the STL formula is robustly satisfiable and the initial state of the system belongs to the initial root node of the tTLT, it is guaranteed that the trajectory generated by the control synthesis algorithm satisfies the STL formula. We validate the effectiveness of the proposed approach by several simulation examples and further demonstrate its practical usability on a hardware experiment. These results show that our approach is able to handle complex STL formulas with long horizons and ensure the robustness against the disturbances, which is beyond the scope of the state-of-the-art STL control synthesis approaches.

Place, publisher, year, edition, pages
SAGE Publications, 2024
Keywords
and reachability analysis, online control synthesis, Signal temporal logic, tube-based temporal logic tree, uncertain systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-348226 (URN)10.1177/02783649231212572 (DOI)001127706600001 ()2-s2.0-85180254556 (Scopus ID)
Note

QC 20240624

Available from: 2024-06-24 Created: 2024-06-24 Last updated: 2024-06-24Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-7309-8086

Search in DiVA

Show all publications