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conference paper

Neural Distributed Controllers with Port-Hamiltonian Structures

Zakwan, Muhammad  
•
Ferrari Trecate, Giancarlo  
December 2024
Proceedings of the IEEE Conference on Decision and Control
63rd IEEE Conference on Decision and Control

Controlling large-scale cyber-physical systems necessitates optimal distributed policies, relying solely on local real-time data and limited communication with neighboring agents. However, finding optimal controllers remains challenging, even in seemingly simple scenarios. Parameterizing these policies using Neural Networks (NNs) can deliver good performance, but their sensitivity to small input changes can destabilize the closed-loop system. This paper addresses this issue for a network of nonlinear dissipative systems. Specifically, we leverage well-established port-Hamiltonian structures to characterize deep distributed control policies with closed-loop stability guarantees and a finite L2 gain, regardless of specific NN parameters. This eliminates the need to constrain the parameters during optimization and enables training with standard methods like stochastic gradient descent. A numerical study on the consensus control of Kuramoto oscillators demonstrates the effectiveness of the proposed controllers.

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Type
conference paper
DOI
10.1109/CDC56724.2024.10886616
Scopus ID

2-s2.0-86000580109

Author(s)
Zakwan, Muhammad  

EPFL

Ferrari Trecate, Giancarlo  

EPFL

Date Issued

2024-12

Publisher

Institute of Electrical and Electronics Engineers Inc.

Published in
Proceedings of the IEEE Conference on Decision and Control
DOI of the book
https://doi.org/10.1109/CDC56724.2024
ISBN of the book

9798350316339

Start page

8633

End page

8638

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
Event nameEvent acronymEvent placeEvent date
63rd IEEE Conference on Decision and Control

CDC 2024

Milan, Italy

2024-12-16 - 2024-12-19

FunderFunding(s)Grant NumberGrant URL

Swiss National Science Foundation

51NF40 180545

Available on Infoscience
March 25, 2025
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/248245
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