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Dimarogonas, Dimos V.orcid.org/0000-0001-7309-8086
##### Publications (10 of 236) Show all publications
Pereira, P. O., Boskos, D. & Dimarogonas, D. V. (2020). A Common Framework for Complete and Incomplete Attitude Synchronization in Networks With Switching Topology. IEEE Transactions on Automatic Control, 65(1), 271-278
Open this publication in new window or tab >>A Common Framework for Complete and Incomplete Attitude Synchronization in Networks With Switching Topology
2020 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 65, no 1, p. 271-278Article in journal (Refereed) Published
##### Abstract [en]

In this paper, we study attitude synchronization for elements in the unit sphere in $\mathbb {R}<^>{\scriptscriptstyle {\scriptscriptstyle {3}}}$ and for elements in the three-dimensional (3-D) rotation group, for a network with switching topology. The agents' angular velocities are assumed to be the control inputs, and a switching control law for each agent is devised that guarantees synchronization, provided that all elements are initially contained in a region, which we identify later in the paper. The control law is decentralized and it does not require a common orientation frame among all agents. We refer to synchronization of unit vectors in $\mathbb {R}<^>{\scriptscriptstyle {3}}$ as incomplete synchronization, and of 3-D rotation matrices as complete synchronization. Our main contribution lies in showing that these two problems can be analyzed under a common framework, where all agents' dynamics are transformed into unit vectors dynamics on a sphere of appropriate dimension.

##### Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2020
##### Keywords
Angular velocity control, attitude control, decentralized control, networked control systems, nonlinear control systems
##### National Category
Electrical Engineering, Electronic Engineering, Information Engineering
##### Identifiers
urn:nbn:se:kth:diva-267168 (URN)10.1109/TAC.2019.2912531 (DOI)000506851100020 ()2-s2.0-85077803649 (Scopus ID)
##### Note

QC 20200204

Available from: 2020-02-04 Created: 2020-02-04 Last updated: 2020-02-04Bibliographically approved
Tan, X., Berkane, S. & Dimarogonas, D. V. (2020). Constrained attitude maneuvers on SO(3): Rotation space sampling, planning and low-level control. Automatica, 112, Article ID 108659.
Open this publication in new window or tab >>Constrained attitude maneuvers on SO(3): Rotation space sampling, planning and low-level control
2020 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 112, article id 108659Article in journal (Refereed) Published
##### Abstract [en]

In this paper, we propose a novel framework that provides a systematic strategy to regulate the rigid body attitude on SO(3) within a generic constrained attitude zone. The proposed control scheme consists of three components: sampling, planning and low-level control. Specifically, an overlapping cell-like sampling for the attitude configuration space SO(3) is built and further reformulated to a graph model. Based on this abstraction, a complete graph search algorithm is utilized to generate a feasible path in the graph model. Both sufficient and necessary conditions on finding a feasible path are presented. Furthermore, to facilitate the control design, the point-to-point path is transformed into a smooth reference trajectory along the geodesics. Finally, a saturated low-level control law is formulated to robustly track the desired trajectory. Simulations demonstrate the effectiveness of the proposed control approach.

##### Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2020
##### Keywords
Constrained attitude maneuvers, Special orthogonal group, Sampling and abstraction on SO(3), Trajectory planning, Resolution completeness, Saturation control
##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-267739 (URN)10.1016/j.automatica.2019.108659 (DOI)000509617800001 ()2-s2.0-85073828001 (Scopus ID)
##### Note

QC 20200218

Available from: 2020-02-18 Created: 2020-02-18 Last updated: 2020-02-18Bibliographically approved
Ótão Pereira, P. M. & Dimarogonas, D. V. (2020). Pose stabilization of a bar tethered to two aerial vehicles. Automatica, 112, Article ID 108695.
Open this publication in new window or tab >>Pose stabilization of a bar tethered to two aerial vehicles
2020 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 112, article id 108695Article in journal (Refereed) Published
##### Abstract [en]

This work focuses on the modeling, control and analysis of a bar, tethered to two unmanned aerial vehicles, which is required to stabilize around a desired pose. We derive the equations of motion of the system, we close the loop by equipping each UAV with a PID control law, and finally we linearize the closed-loop vector field around some equilibrium points of interest. When requiring the bar to stay on the horizontal plane and under no normal stress, we verify that the bar's motion is decomposable into three decoupled motions, namely a longitudinal, a lateral and a vertical: for a symmetric system, each of those motions is further decomposed into two decoupled sub-motions, one linear and one angular; for an asymmetric system, we provide relations on the UAVs' gains that compensate for the system asymmetries and which decouple the linear sub-motions from the angular sub-motions. From this analysis, we provide conditions, based on the system's physical parameters, that describe good and bad types of asymmetries. Finally, when requiring the bar to pitch or to be under normal stress, we verify that there is a coupling between the longitudinal and the vertical motions, and that a positive normal stress (tension) has a positive effect on the stability, while a negative normal stress (compression) has a negative effect on the stability.

##### Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2020
##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-267738 (URN)10.1016/j.automatica.2019.108695 (DOI)000509617800020 ()2-s2.0-85076024124 (Scopus ID)
##### Note

QC 20200218

Available from: 2020-02-18 Created: 2020-02-18 Last updated: 2020-02-18Bibliographically approved
Ren, W. & Dimarogonas, D. V. (2020). Symbolic abstractions for nonlinear control systems via feedback refinement relation. Automatica, 114, Article ID 108828.
Open this publication in new window or tab >>Symbolic abstractions for nonlinear control systems via feedback refinement relation
2020 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 114, article id 108828Article in journal (Refereed) Published
##### Abstract [en]

This paper studies the construction of symbolic abstractions for nonlinear control systems via feedback refinement relation. Both the delay-free and time-delay cases are addressed. For the delay-free case, to reduce the computational complexity, we propose a new approximation approach for the state and input sets based on a static quantizer, and then a novel symbolic model is constructed such that the original system and the symbolic model satisfy the feedback refinement relation. For the time-delay case, both static and dynamic quantizers are combined to approximate the state and input sets. This leads to a novel dynamic symbolic model for time-delay control systems, and a feedback refinement relation is established between the original system and the symbolic model. Finally, a numerical example is presented to illustrate the obtained results.

##### Place, publisher, year, edition, pages
Elsevier Ltd, 2020
##### Keywords
Feedback refinement relation, Nonlinear control systems, Quantizers, Symbolic abstraction, Time-delay control systems, Abstracting, Nonlinear feedback, Time delay, Approximation approach, Dynamic quantizers, Input set, Original systems, Symbolic model, Delay control systems
##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-267938 (URN)10.1016/j.automatica.2020.108828 (DOI)000519656500020 ()2-s2.0-85078057262 (Scopus ID)
##### Note

QC 20200402

Available from: 2020-04-02 Created: 2020-04-02 Last updated: 2020-04-02Bibliographically approved
Hashimoto, K. & Dimarogonas, D. V. (2020). Synthesizing Communication Plans for Reachability and Safety Specifications. IEEE Transactions on Automatic Control, 65(2), 561-576
Open this publication in new window or tab >>Synthesizing Communication Plans for Reachability and Safety Specifications
2020 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 65, no 2, p. 561-576Article in journal (Refereed) Published
##### Abstract [en]

We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system toward a prescribed target set in finite time (reachability), while at the same time remaining inside a safety set for all time (safety). By leveraging the notion of the $\delta$-input-to-state stability (ISS) control Lyapunov function, we derive a sufficient condition to generate a communication scheduling, such that the resulting state trajectory guarantees reachability and safety. Moreover, in order to alleviate computational burden, we present a way to find a suitable communication scheduling by implementing abstraction schemes and standard graph search methodologies. Simulation examples validate the effectiveness of the proposed approach.

##### Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2020
##### Keywords
Constrained control, event and self-triggered control, reachability and safety
##### National Category
Electrical Engineering, Electronic Engineering, Information Engineering
##### Identifiers
urn:nbn:se:kth:diva-268796 (URN)10.1109/TAC.2019.2910947 (DOI)000510754000008 ()
##### Note

QC 20200221

Available from: 2020-02-21 Created: 2020-02-21 Last updated: 2020-02-21Bibliographically approved
Berkane, S., Bisoffi, A. & Dimarogonas, D. V. (2019). A hybrid controller for obstacle avoidance in an n-dimensional euclidean space. In: 2019 18th European Control Conference, ECC 2019: . Paper presented at 18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019 (pp. 764-769). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8795713.
Open this publication in new window or tab >>A hybrid controller for obstacle avoidance in an n-dimensional euclidean space
2019 (English)In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 764-769, article id 8795713Conference paper, Published paper (Refereed)
##### Abstract [en]

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

##### Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-262640 (URN)10.23919/ECC.2019.8795713 (DOI)000490488300123 ()2-s2.0-85071591878 (Scopus ID)9783907144008 (ISBN)
##### Conference
18th European Control Conference, ECC 2019; Naples; Italy; 25 June 2019 through 28 June 2019
##### Note

QC 20191017

Available from: 2019-10-17 Created: 2019-10-17 Last updated: 2019-11-14Bibliographically approved
van de Hoef, S., Mårtensson, J., Dimarogonas, D. V. & Johansson, K. H. (2019). A predictive framework for dynamic heavy-duty vehicle platoon coordination. ACM Transactions on Cyber-Physical Systems, 4(1), Article ID A5.
Open this publication in new window or tab >>A predictive framework for dynamic heavy-duty vehicle platoon coordination
2019 (English)In: ACM Transactions on Cyber-Physical Systems, ISSN 2378-962X, Vol. 4, no 1, article id A5Article in journal (Refereed) Published
##### Abstract [en]

This article describes a system to facilitate dynamic en route formation of heavy-duty vehicle platoons with the goal of reducing fuel consumption. Safe vehicle platooning is a maturing technology that leverages modern sensor, control, and communication technology to automatically regulate the inter-vehicle distances. Truck platooning has been shown to reduce fuel consumption through slipstreaming by up to 10% under realistic highway-driving conditions. To further benefit from this technology, a platoon coordinator is proposed, which interfaces with fleet management systems and suggests how platoons can be formed in a fuel-efficient manner over a large region. The coordinator frequently updates the plans to react to newly available information. This way, it requires a minimum of customization with respect to the logistic operations.We discuss the system architecture in detail and introduce important underlying methodological foundations. Plans are derived in computationally tractable stages optimizing fuel savings from platooning. The effectiveness of this approach is verified in a simulation study. It shows that the coordinated platooning system can improve over spontaneously occurring platooning even under the presence of disturbances. A real demonstrator has also been developed. We present data from an experiment in which three vehicles were coordinated to form a platoon on public highways under normal traffic conditions. It demonstrates the feasibility of coordinated en route platoon formation with current communication and on-board technology. Simulations and experiments support that the proposed system is technically feasible and a potential solution to the problem of using vehicle platooning in an operational context.

##### Place, publisher, year, edition, pages
Association for Computing Machinery, 2019
##### Keywords
Cooperative adaptive cruise control, Platooning, Road freight transport, Adaptive cruise control, Fleet operations, Freight transportation, Fuel economy, Fuels, Communication technologies, Driving conditions, Fleet management system, Heavy duty vehicles, System architectures, Vehicle to vehicle communications
##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-268046 (URN)10.1145/3299110 (DOI)2-s2.0-85074896008 (Scopus ID)
##### Note

QC 20200326

Available from: 2020-03-26 Created: 2020-03-26 Last updated: 2020-03-26Bibliographically approved
Hashimoto, K., Saoud, A., Kishida, M., Ushio, T. & Dimarogonas, D. V. (2019). A Symbolic Approach to the Self-Triggered Design for Networked Control Systems. IEEE Control Systems Letters, 3(4), 1050-1055, Article ID 8733077.
Open this publication in new window or tab >>A Symbolic Approach to the Self-Triggered Design for Networked Control Systems
2019 (English)In: IEEE Control Systems Letters, ISSN 2475-1456, Vol. 3, no 4, p. 1050-1055, article id 8733077Article in journal (Refereed) Published
##### Abstract [en]

In this letter, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or abstractions, which represent abstracted expressions of control systems. The symbolic models will be constructed through the concepts of approximate alternating simulation relations, based on which, and by employing a reachability game, the self-triggered controller is synthesized. We illustrate the effectiveness of the proposed approach through numerical simulations.

##### Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019
##### Keywords
reachability and safety, Self-triggered control, symbolic models, Abstracting, Controllers, Alternating simulation, Reachability, Safety specifications, Self-triggered controls, Symbolic model, Networked control systems
##### National Category
Control Engineering
Computer Science
##### Identifiers
urn:nbn:se:kth:diva-263558 (URN)10.1109/LCSYS.2019.2921616 (DOI)2-s2.0-85067867636 (Scopus ID)
##### Note

QC 20191126

Available from: 2019-11-26 Created: 2019-11-26 Last updated: 2019-11-29Bibliographically approved
Boskos, D. & Dimarogonas, D. V. (2019). ABSTRACTIONS OF VARYING DECENTRALIZATION DEGREE FOR REACHABILITY OF COUPLED MULTIAGENT SYSTEMS. SIAM Journal of Control and Optimization, 57(5), 3471-3495
Open this publication in new window or tab >>ABSTRACTIONS OF VARYING DECENTRALIZATION DEGREE FOR REACHABILITY OF COUPLED MULTIAGENT SYSTEMS
2019 (English)In: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 57, no 5, p. 3471-3495Article in journal (Refereed) Published
##### Abstract [en]

In this paper we present a decentralized abstraction framework for multiagent systems with couplings in their dynamics, which arise in their popular coordination protocols. The discrete models are basexl on a varying decentralization degree, namely, the agents' individual abstractions are obtained by using discrete information up to a tunable distance in their network graph. Deriving these models at the agent level is essential to address scalability issues which appear in the discretization of systems with a high state dimension. The approach builds on the appropriate discretization of the agents' state space and the selection of a transition time step, which enable the construction of a nonblocking transition system for each agent with quantifiable transition possibilities. The transitions are based on the design of local feedback laws for the manipulation of the coupling terms, which guarantee the execution of the transitions by the continuous systems. For a class of nonlinear agent interconnections, the derivation of such abstractions is always guaranteed, based on sufficient conditions which relate the agents' dynamics and the space/time quantization.

##### Place, publisher, year, edition, pages
SIAM PUBLICATIONS, 2019
##### Keywords
hybrid systems, multiagent systems, abstractions
##### National Category
Electrical Engineering, Electronic Engineering, Information Engineering
##### Identifiers
urn:nbn:se:kth:diva-264323 (URN)10.1137/17M1133981 (DOI)000493904200015 ()2-s2.0-85075499123 (Scopus ID)
##### Note

QC 20191202

Available from: 2019-12-02 Created: 2019-12-02 Last updated: 2019-12-19Bibliographically approved
Verginis, C. & Dimarogonas, D. V. (2019). Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints. In: : . Paper presented at IEEE Conference on Decision and Control.
Open this publication in new window or tab >>Adaptive Leader-Follower Coordination of Lagrangian Multi-Agent Systems under Transient Constraints
2019 (English)Conference paper, Published paper (Refereed)
##### Abstract [en]

This paper presents a novel control methodologyfor the coordination of a multi-agent system with 2nd orderuncertain Lagrangian dynamics, while guaranteeing collisionand connectivity properties in the transient state. More specifically,we consider that a leader agent aims at tracking adesired pose, while all the agents must avoid collisions witheach other. Motivated by cooperative tasks, we also considerthat a subset of the initially connected agents must remainconnected, in the sense of a connected sensing graph.We employa key property of the incidence matrix and integrate potentialfields with discontinuous adaptive control laws to compensatefor unknown dynamic parameters of the model and externaldisturbances. Simulation results in a realistic dynamics engineillustrate the theoretical findings.

##### National Category
Control Engineering
##### Identifiers
urn:nbn:se:kth:diva-267488 (URN)
##### Conference
IEEE Conference on Decision and Control
##### Funder
Wallenberg FoundationsSwedish Research CouncilEU, Horizon 2020, BUCOPHSYSEU, Horizon 2020, 731869 (Co4Robots)Swedish Foundation for Strategic Research
##### Note

QC 20200217

Available from: 2020-02-07 Created: 2020-02-07 Last updated: 2020-02-17Bibliographically approved
##### Identifiers
ORCID iD: orcid.org/0000-0001-7309-8086

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