Locally Optimal Control of Complex Networks

Resonancelike emergence of chaos in complex networks of damped-driven nonlinear systems

Characterizing the emergence of chaotic dynamics of complex networks is an essential task in nonlinear science with potential important applications in many fields such as neural control engineering, microgrid technologies, and ecological networks. Here, we solve a critical outstanding problem in this multidisciplinary research field: the emergence and persistence of spatiotemporal chaos in complex networks of damped-driven nonlinear oscillators in the significant weak-coupling regime, while they exhibit regular behavior when uncoupled. By developing a comprehensive theory with the aid of standard analytical methods, a hierarchy of lower-dimensional effective models, and extensive numerical simulations, we uncover and characterize the basic physical mechanisms concerning both heterogeneity-induced and impulse-induced emergence, enhancement, and suppression of chaos in starlike and scale-free networks of periodically driven, dissipative nonlinear oscillators.

Model-free tracking control of complex dynamical trajectories with machine learning

Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete knowledge of the system model and equations. We develop a model-free, machine-learning framework to control a two-arm robotic manipulator using only partially observed states, where the controller is realized by reservoir computing. Stochastic input is exploited for training, which consists of the observed partial state vector as the first and its immediate future as the second component so that the neural machine regards the latter as the future state of the former. In the testing (deployment) phase, the immediate-future component is replaced by the desired observational vector from the reference trajectory. We demonstrate the effectiveness of the control framework using a variety of periodic and chaotic signals, and establish its robustness against measurement noise, disturbances, and uncertainties.

Exact Decomposition of Optimal Control Problems via Simultaneous Block Diagonalization of Matrices

In this paper, we consider optimal control problems (OCPs) applied to large-scale linear dynamical systems with a large number of states and inputs. We attempt to reduce such problems into a set of independent OCPs of lower dimensions. Our decomposition is 'exact' in the sense that it preserves all the information about the original system and the objective function. Previous work in this area has focused on strategies that exploit symmetries of the underlying system and of the objective function. Here, instead, we implement the algebraic method of simultaneous block diagonalization of matrices (SBD), which we show provides advantages both in terms of the dimension of the subproblems that are obtained and of the computation time. We provide practical examples with networked systems that demonstrate the benefits of applying the SBD decomposition over the decomposition method based on group symmetries.

Structure-based approach to identifying small sets of driver nodes in biological networks

In network control theory, driving all the nodes in the Feedback Vertex Set (FVS) by node-state override forces the network into one of its attractors (long-term dynamic behaviors). The FVS is often composed of more nodes than can be realistically manipulated in a system; for example, only up to three nodes can be controlled in intracellular networks, while their FVS may contain more than 10 nodes. Thus, we developed an approach to rank subsets of the FVS on Boolean models of intracellular networks using topological, dynamics-independent measures. We investigated the use of seven topological prediction measures sorted into three categories-centrality measures, propagation measures, and cycle-based measures. Using each measure, every subset was ranked and then evaluated against two dynamics-based metrics that measure the ability of interventions to drive the system toward or away from its attractors: To Control and Away Control. After examining an array of biological networks, we found that the FVS subsets that ranked in the top according to the propagation metrics can most effectively control the network. This result was independently corroborated on a second array of different Boolean models of biological networks. Consequently, overriding the entire FVS is not required to drive a biological network to one of its attractors, and this method provides a way to reliably identify effective FVS subsets without the knowledge of the network dynamics.

Energy cost study for controlling complex social networks with conformity behavior

To understand controlling a complex system, an estimation of the required effort needed to achieve control is vital. Previous works have addressed this issue by studying the scaling laws of energy cost in a general way with continuous-time linear dynamics. However, continuous-time linear dynamics is unable to capture conformity behavior, which is common in many complex social systems. Therefore, to understand controlling social systems with conformity, discrete-time modeling is used and the energy cost scaling laws are derived. The results are validated numerically with model and real networks. In addition, the energy costs needed for controlling systems with and without conformity are compared, and it was found that controlling networked systems with conformity features always requires less control energy. Finally, it is shown through simulations that heterogeneous scale-free networks are less controllable, requiring a higher number of minimum drivers. Since the conformity-based model relates to various complex systems, such as flocking, or evolutionary games, the results of this paper represent a step forward toward developing realistic control of complex social systems.

Controlling network ensembles

The field of optimal control typically requires the assumption of perfect knowledge of the system one desires to control, which is an unrealistic assumption for biological systems, or networks, typically affected by high levels of uncertainty. Here, we investigate the minimum energy control of network ensembles, which may take one of a number of possible realizations. We ensure the controller derived can perform the desired control with a tunable amount of accuracy and we study how the control energy and the overall control cost scale with the number of possible realizations. Our focus is in characterizing the solution of the optimal control problem in the limit in which the systems are drawn from a continuous distribution, and in particular, how to properly pose the weighting terms in the objective function. We verify the theory in three examples of interest: a unidirectional chain network with uncertain edge weights and self-loop weights, a network where each edge weight is drawn from a given distribution, and the Jacobian of the dynamics corresponding to the cell signaling network of autophagy in the presence of uncertain parameters.

Application of the control usually requires complete knowledge of the system, which is rare for biological networks characterized by uncertainty. Klickstein et al. propose an optimal control for uncertain systems represented by network ensembles where only weight distributions for edges are known.

Optimizing target nodes selection for the control energy of directed complex networks

The energy needed in controlling a complex network is a problem of practical importance. Recent works have focused on the reduction of control energy either via strategic placement of driver nodes, or by decreasing the cardinality of nodes to be controlled. However, optimizing control energy with respect to target nodes selection has yet been considered. In this work, we propose an iterative method based on Stiefel manifold optimization of selectable target node matrix to reduce control energy. We derive the matrix derivative gradient needed for the search algorithm in a general way, and search for target nodes which result in reduced control energy, assuming that driver nodes placement is fixed. Our findings reveal that the control energy is optimal when the path distances from driver nodes to target nodes are minimized. We corroborate our algorithm with extensive simulations on elementary network topologies, random and scale-free networks, as well as various real networks. The simulation results show that the control energy found using our algorithm outperforms heuristic selection strategies for choosing target nodes by a few orders of magnitude. Our work may be applicable to opinion networks, where one is interested in identifying the optimal group of individuals that the driver nodes can influence.

Node-Level Resilience Loss in Dynamic Complex Networks

In an increasingly connected world, the resilience of networked dynamical systems is important in the fields of ecology, economics, critical infrastructures, and organizational behaviour. Whilst we understand small-scale resilience well, our understanding of large-scale networked resilience is limited. Recent research in predicting the effective network-level resilience pattern has advanced our understanding of the coupling relationship between topology and dynamics. However, a method to estimate the resilience of an individual node within an arbitrarily large complex network governed by non-linear dynamics is still lacking. Here, we develop a sequential mean-field approach and show that after 1-3 steps of estimation, the node-level resilience function can be represented with up to 98% accuracy. This new understanding compresses the higher dimensional relationship into a one-dimensional dynamic for tractable understanding, mapping the relationship between local dynamics and the statistical properties of network topology. By applying this framework to case studies in ecology and biology, we are able to not only understand the general resilience pattern of the network, but also identify the nodes at the greatest risk of failure and predict the impact of perturbations. These findings not only shed new light on the causes of resilience loss from cascade effects in networked systems, but the identification capability could also be used to prioritize protection, quantify risk, and inform the design of new system architectures.

Harnessing tipping points in complex ecological networks

Complex and nonlinear ecological networks can exhibit a tipping point at which a transition to a global extinction state occurs. Using real-world mutualistic networks of pollinators and plants as prototypical systems and taking into account biological constraints, we develop an ecologically feasible strategy to manage/control the tipping point by maintaining the abundance of a particular pollinator species at a constant level, which essentially removes the hysteresis associated with a tipping point. If conditions are changing so as to approach a tipping point, the management strategy we describe can prevent sudden drastic changes. Additionally, if the system has already moved past a tipping point, we show that a full recovery can occur for reasonable parameter changes only if there is active management of abundance, again due essentially to removal of the hysteresis. This recovery point in the aftermath of a tipping point can be predicted by a universal, two-dimensional reduced model.

Irrelevance of linear controllability to nonlinear dynamical networks

There has been tremendous development in linear controllability of complex networks. Real-world systems are fundamentally nonlinear. Is linear controllability relevant to nonlinear dynamical networks? We identify a common trait underlying both types of control: the nodal "importance". For nonlinear and linear control, the importance is determined, respectively, by physical/biological considerations and the probability for a node to be in the minimum driver set. We study empirical mutualistic networks and a gene regulatory network, for which the nonlinear nodal importance can be quantified by the ability of individual nodes to restore the system from the aftermath of a tipping-point transition. We find that the nodal importance ranking for nonlinear and linear control exhibits opposite trends: for the former large-degree nodes are more important but for the latter, the importance scale is tilted towards the small-degree nodes, suggesting strongly the irrelevance of linear controllability to these systems. The recent claim of successful application of linear controllability to Caenorhabditis elegans connectome is examined and discussed.

Optimal regulation of blood glucose level in Type I diabetes using insulin and glucagon

The Glucose-Insulin-Glucagon nonlinear model accurately describes how the body responds to exogenously supplied insulin and glucagon in patients affected by Type I diabetes. Based on this model, we design infusion rates of either insulin (monotherapy) or insulin and glucagon (dual therapy) that can optimally maintain the blood glucose level within desired limits after consumption of a meal and prevent the onset of both hypoglycemia and hyperglycemia. This problem is formulated as a nonlinear optimal control problem, which we solve using the numerical optimal control package PSOPT. Interestingly, in the case of monotherapy, we find the optimal solution is close to the standard method of insulin based glucose regulation, which is to assume a variable amount of insulin half an hour before each meal. We also find that the optimal dual therapy (that uses both insulin and glucagon) is better able to regulate glucose as compared to using insulin alone. We also propose an ad-hoc rule for both the dosage and the time of delivery of insulin and glucagon.

Neurofeedback: Principles, appraisal, and outstanding issues

Neurofeedback is a form of brain training in which subjects are fed back information about some measure of their brain activity which they are instructed to modify in a way thought to be functionally advantageous. Over the last 20 years, neurofeedback has been used to treat various neurological and psychiatric conditions, and to improve cognitive function in various contexts. However, in spite of a growing popularity, neurofeedback protocols typically make (often covert) assumptions on what aspects of brain activity to target, where in the brain to act and how, which have far-reaching implications for the assessment of its potential and efficacy. Here we critically examine some conceptual and methodological issues associated with the way neurofeedback's general objectives and neural targets are defined. The neural mechanisms through which neurofeedback may act at various spatial and temporal scales, and the way its efficacy is appraised are reviewed, and the extent to which neurofeedback may be used to control functional brain activity discussed. Finally, it is proposed that gauging neurofeedback's potential, as well as assessing and improving its efficacy will require better understanding of various fundamental aspects of brain dynamics and a more precise definition of functional brain activity and brain-behaviour relationships.

Prediction of Optimal Drug Schedules for Controlling Autophagy

The effects of molecularly targeted drug perturbations on cellular activities and fates are difficult to predict using intuition alone because of the complex behaviors of cellular regulatory networks. An approach to overcoming this problem is to develop mathematical models for predicting drug effects. Such an approach beckons for co-development of computational methods for extracting insights useful for guiding therapy selection and optimizing drug scheduling. Here, we present and evaluate a generalizable strategy for identifying drug dosing schedules that minimize the amount of drug needed to achieve sustained suppression or elevation of an important cellular activity/process, the recycling of cytoplasmic contents through (macro)autophagy. Therapeutic targeting of autophagy is currently being evaluated in diverse clinical trials but without the benefit of a control engineering perspective. Using a nonlinear ordinary differential equation (ODE) model that accounts for activating and inhibiting influences among protein and lipid kinases that regulate autophagy (MTORC1, ULK1, AMPK and VPS34) and methods guaranteed to find locally optimal control strategies, we find optimal drug dosing schedules (open-loop controllers) for each of six classes of drugs and drug pairs. Our approach is generalizable to designing monotherapy and multi therapy drug schedules that affect different cell signaling networks of interest.