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conference paper

Optimal distributed control with stability guarantees by training a network of neural closed-loop maps

Saccani, Danilo  
•
Massai, Leonardo  
•
Furieri, Luca  
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December 2024
Proceedings of the IEEE Conference on Decision and Control
63rd IEEE Conference on Decision and Control

This paper proposes a novel approach to improve the performance of distributed nonlinear control systems while preserving stability by leveraging Deep Neural Networks (DNNs). We build upon the Neural System Level Synthesis (Neur-SLS) framework and introduce a method to parameterize stabilizing control policies that are distributed across a network topology. A distinctive feature is that we iteratively minimize an arbitrary control cost function through an unconstrained optimization algorithm, all while preserving the stability of the overall network architecture by design. This is achieved through two key steps. First, we establish a method to parameterize interconnected Recurrent Equilibrium Networks (RENs) that guarantees a bounded L2 gain at the network level. This ensures stability. Second, we demonstrate how the information flow within the network is preserved, enabling a fully distributed implementation where each subsystem only communicates with its neighbors. To showcase the effectiveness of our approach, we present a simulation of a distributed formation control problem for a fleet of vehicles. The simulation demonstrates how the proposed neural controller enables the vehicles to maintain a desired formation while navigating obstacles and avoiding collisions, all while guaranteeing network stability.

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Type
conference paper
DOI
10.1109/CDC56724.2024.10886574
Scopus ID

2-s2.0-86000547550

Author(s)
Saccani, Danilo  

EPFL

Massai, Leonardo  

EPFL

Furieri, Luca  

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

3776

End page

3781

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/20.500.14299/248236
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