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This paper presents a systematic method to analyze the stability of systems with single delay in which the coefficient polynomials of the characteristic equation depend on the delay. Such systems often arise in, for example, life science and engineering systems. A method to analyze such systems was presented by Beretta and Kuang in a 2002 paper, but with some very restrictive assumptions. This paper extends their results to the general case with the exception of some degenerate cases. It is found that a much richer behavior is possible when the restrictive assumptions are removed. The interval of interest for the delay is partitioned into subintervals so that the magnitude condition generates a fixed number of frequencies as functions of the delay within each subinterval. The crossing conditions are expressed in a general form, and a simplified derivation for the first-order derivative criterion is obtained. Illustrative examples are also presented in this paper. [ABSTRACT FROM AUTHOR]

Mean field game theory has been developed largely following two routes. One of them, called the direct approach, starts by solving a large-scale game and next derives a set of limiting equations as the population size tends to infinity. The second route is to apply mean field approximations and formalize a fixed point problem by analyzing the best response of a representative player. This paper addresses the connection and difference of the two approaches in a linear quadratic (LQ) setting. We first introduce an asymptotic solvability notion for the direct approach, which means for all sufficiently large population sizes, the corresponding game has a set of feedback Nash strategies in addition to a mild regularity requirement. We provide a necessary and sufficient condition for asymptotic solvability and show that in this case the solution converges to a mean field limit. This is accomplished by developing a re-scaling method to derive a low-dimensional ordinary differential equation (ODE) system, where a non-symmetric Riccati ODE has a central role. We next compare with the fixed point approach which determines a two-point boundary value (TPBV) problem, and show that asymptotic solvability implies feasibility of the fixed point approach, but the converse is not true. We further address non-uniqueness in the fixed point approach and examine the long time behavior of the non-symmetric Riccati ODE in the asymptotic solvability problem. [ABSTRACT FROM AUTHOR]

Aggregate load modeling is of fundamental importance for systematic analysis and design of various demand response strategies. Instead of keeping track of the trajectories of individual loads, the aggregate modeling problem focuses on characterizing the density evolution of the load population. Most existing models are only applicable to thermostatically controlled loads (TCLs) with first-order linear dynamics. This paper develops a unified aggregate modeling approach that can be used for general TCLs as well as deferrable loads. We propose a deterministic hybrid system model to describe individual load dynamics under demand response rules, and develop a general stochastic hybrid system (SHS) model to capture the population dynamics. We also derive a set of partial differential equations (PDEs) that govern the probability density evolution of the SHS. Our results cannot be obtained using the existing SHS tools in the literature as the proposed SHS model involves both random and deterministic switchings with general switching surfaces in multidimensional domains. The derived PDE model includes many existing aggregate load modeling results as special cases and can be used in many other realistic modeling scenarios that have not been studied in the literature. [ABSTRACT FROM AUTHOR]

This paper considers the consensus behavior of a spatially distributed 3-D dynamical network composed of heterogeneous agents: leaders and followers, in which the leaders have the preferred information about the destination, while the followers do not have. All followers move in a 3-D Euclidean space with a given speed and with their headings updated according to the average velocity of the corresponding neighbors. Compared with the 2-D model, a key point lies in how to analyze the dynamical behavior of a “linear” nonhomogeneous equation where the nonhomogeneous term strongly nonlinearly depends on the states of all agents. Using the network structure and the estimation of some characteristics for the initial states, we present a proper decaying rate for the nonhomogeneous term and then establish lower bounds on the ratio of the number of leaders to the number of followers that is needed for the expected consensus by considering two cases: 1) fixed speed and neighborhood radius and 2) variable speed and neighborhood radius with respect to the population size. Some simulation examples are given to justify the theoretical results. [ABSTRACT FROM PUBLISHER]

The purpose of this paper is to show how insight obtained from a mean-field model can be used to create an architecture for approximate dynamic programming (ADP) for a certain class of games comprising of a large number of agents. The general technique is illustrated with the aid of a mean-field oscillator game model introduced in our prior work. The states of the model are interpreted as the phase angles for a collection of nonhomogeneous oscillators, and in this way the model may be regarded as an extension of the classical coupled oscillator model of Kuramoto. The paper introduces ADP techniques for design and adaptation (learning) of approximately optimal control laws for this model. For this purpose, a parameterization is proposed, based on an analysis of the mean-field PDE model for the game. In an offline setting, a Galerkin procedure is introduced to choose the optimal parameters while in an online setting, a steepest descent algorithm is proposed. The paper provides a detailed analysis of the optimal parameter values as well as the Bellman error with both the Galerkin approximation and the online algorithm. Finally, a phase transition result is described for the large population limit when each oscillator uses the approximately optimal control law. A critical value of the control penalty parameter is identified: above this value, the oscillators are incoherent; and below this value (when control is sufficiently cheap) the oscillators synchronize. These conclusions are illustrated with results from numerical experiments. [ABSTRACT FROM AUTHOR]

This paper concerns state estimation problems in a mean field control setting. In a finite population model, the goal is to estimate the joint distribution of the population state and the state of a typical individual. The observation equations are a noisy measurement of the population. The general results are applied to demand dispatch for regulation of the power grid, based on randomized local control algorithms. In prior work by the authors it is shown that local control can be designed so that the aggregate of loads behaves as a controllable resource, with accuracy matching or exceeding traditional sources of frequency regulation. The operational cost is nearly zero in many cases. The information exchange between grid and load is minimal, but it is assumed in the overall control architecture that the aggregate power consumption of loads is available to the grid operator. It is shown that the Kalman filter can be constructed to reduce these communication requirements, and to provide the grid operator with accurate estimates of the mean and variance of quality of service (QoS) for an individual load. [ABSTRACT FROM AUTHOR]

Natural systems are inextricably affected by noise. Within recent decades, the manner in which noise affects the collective behavior of self-organized systems, specifically, has garnered considerable interest from researchers and developers in various fields. To describe the collective motion of multiple interacting particles, Vicsek et al. proposed a well-known self-propelled particle (SPP) system, which exhibits a second-order phase transition from disordered to ordered motion in simulation; due to its non-equilibrium, randomness, and strong coupling nonlinear dynamics, however, there has been no rigorous analysis of such a system to date. To decouple systems consisting of deterministic laws and randomness, we propose a general method which transfers the analysis of these systems to the design of cooperative control algorithms. In this study, we rigorously analyzed the original Vicsek model under both open and periodic boundary conditions for the first time, and developed extensions to heterogeneous SPP systems (including leader-follower models) using the proposed method. Theoretical results show that SPP systems switch an infinite number of times between ordered and disordered states for any noise intensity and population density, which implies that the phase transition indeed takes a nontraditional form. We also investigated the robust consensus and connectivity of these systems. Moreover, the findings presented in this paper suggest that our method can be used to predict possible configurations during the evolution of complex systems, including turn, vortex, bifurcation, and flock merger phenomena as they appear in SPP systems. [ABSTRACT FROM PUBLISHER]

This paper considers decentralized control and optimization methodologies for large populations of systems, consisting of several agents with different individual behaviors, constraints and interests, and influenced by the aggregate behavior of the overall population. For such large-scale systems, the theory of aggregative and mean field games has been established and successfully applied in various scientific disciplines. While the existing literature addresses the case of unconstrained agents, we formulate deterministic mean field control problems in the presence of heterogeneous convex constraints for the individual agents, for instance arising from agents with linear dynamics subject to convex state and control constraints. We propose several model-free feedback iterations to compute in a decentralized fashion a mean field Nash equilibrium in the limit of infinite population size. We apply our methods to the constrained linear quadratic deterministic mean field control problem. [ABSTRACT FROM PUBLISHER]

In this paper, we study a class of risk-sensitive mean-field stochastic differential games. We show that under appropriate regularity conditions, the mean-field value of the stochastic differential game with exponentiated integral cost functional coincides with the value function satisfying a Hamilton –Jacobi– Bellman (HJB) equation with an additional quadratic term. We provide an explicit solution of the mean-field best response when the instantaneous cost functions are log-quadratic and the state dynamics are affine in the control. An equivalent mean-field risk-neutral problem is formulated and the corresponding mean-field equilibria are characterized in terms of backward-forward macroscopic McKean–Vlasov equations, Fokker–Planck–Kolmogorov equations, and HJB equations. We provide numerical examples on the mean field behavior to illustrate both linear and McKean–Vlasov dynamics. [ABSTRACT FROM PUBLISHER]

We consider a continuum of phase oscillators on the circle interacting through an impulsive instantaneous coupling. In contrast with previous studies on related pulse-coupled models, the stability results obtained in the continuum limit are global. For the nonlinear transport equation governing the evolution of the oscillators, we propose (under technical assumptions) a global Lyapunov function which is induced by a total variation distance between quantile densities. The monotone time evolution of the Lyapunov function completely characterizes the dichotomic behavior of the oscillators: either the oscillators converge in finite time to a synchronous state or they asymptotically converge to an asynchronous state uniformly spread on the circle. The results of the present paper apply to popular phase oscillators models (e.g., the well-known leaky integrate-and-fire model) and show a strong parallel between the analysis of finite and infinite populations. In addition, they provide a novel approach for the (global) analysis of pulse-coupled oscillators. [ABSTRACT FROM AUTHOR]

The purpose of this paper is to synthesize initial mean consensus behavior of a set of agents from the fundamental optimization principles of i) stochastic dynamic games, and ii) optimal control. In the stochastic dynamic game model each agent seeks to minimize its individual quadratic discounted cost function involving the mean of the states of all other agents. In this formulation we derive the limiting infinite population mean field equation system and explicitly compute its unique solution. The resulting mean field (MF) control strategies drive each agent to track the overall population's initial state distribution mean, and by applying these decentralized strategies, any finite population system reaches mean consensus asymptotically as time goes to infinity. Furthermore, these control laws possess an \varepsilonN-Nash equilibrium property where \varepsilonN goes to zero as the population size N goes to infinity. Finally, the analysis is extended to the case of random mean field couplings. In the social cooperative formulation the basic objective is to minimize a social cost as the sum of the individual cost functions containing mean field coupling. In this formulation we show that for any individual agent the decentralized mean field social (MF Social) control strategy is the same as the mean field Nash (MF Nash) equilibrium strategy. Hence $MF-Nash\ Controls\ UNash^N=\rm MF-Social\ Controls\ USoc^N.$On the other hand, the solution to the centralized LQR optimal control formulation yields the Standard Consensus (SC) algorithm whenever the graph representing the corresponding topology of the network is Completely Connected (CC). Hence $Cent.\ LQR\ Controls\ UCent^N=\rm SC-CC\ Controls\ USC^N.$Moreover, a system with centralized control laws reaches consensus on the initial state distribution mean as time and population size N go to infinity. Hence, asymptotically in time $\eqalignno&MF-Nash\ Controls\ UNash^N\!=\!\,\rm MF-Social\ Controls\ USoc^N\cr&\!=\!\,\rm Cent.\ \rm LQR\ Controls\ UCent^\infty \!=\! \,\rm SC-CC\ Controls\ USC^\infty.$Finally, the analysis is extended to the long time average (LTA) cost functions case. [ABSTRACT FROM AUTHOR]

The incipience of synchrony in a diverse population of phase oscillators with non-identical interactions is an intriguing phenomenon. We study frequency synchronization of such oscillators composing networks with arbitrary topology in the context of the Kuramoto model and we show that its synchronization manifold is exponentially stable when the coupling has certain properties. Several example systems with periodic linear, cubic and sinusoidal coupling functions were examined, some including frustration and external fields. The numerical results confirmed the analytic findings and revealed some other interesting occurrences, like phase clustering in a synchronized network of strongly coupled oscillators. We also analyze the effects of the topology by considering random weighted networks. [ABSTRACT FROM AUTHOR]