Systems and Control
In the article, we describe a trajectory planning problem for a 6-DOF robotic manipulator arm that carries an ultra-wideband (UWB) radar sensor with synthetic aperture (SAR). The resolution depends on the trajectory and velocity profile of…
Parametric prediction error methods constitute a classical approach to the identification of linear dynamic systems with excellent large-sample properties. A more recent regularized approach, inspired by machine learning and Bayesian…
The stable spline (SS) kernel and the diagonal correlated (DC) kernel are two kernels that have been applied and studied extensively for kernel-based regularized LTI system identification. In this note, we show that similar to the…
In this paper, a robust adaptive backstepping-based controller is developed for positioning the spool valve of Electro-Hydraulic Servo System (EHSS) with parameter fluctuations. Artificial Bee Colony (ABC) algorithm is utilized to drive the…
Although adverse effects of attacks have been acknowledged in many cyber-physical systems, there is no system-theoretic comprehension of how a compromised agent can leverage communication capabilities to maximize the damage in distributed…
One of the barriers to adoption of Electric Vehicles (EVs) is the anxiety around the limited driving range. Recent proposals have explored charging EVs on the move, using dynamic wireless charging which enables power exchange between the…
Backstepping design for boundary linear PDE is formulated as a convex optimization problem. Some classes of parabolic PDEs and a first-order hyperbolic PDE are studied, with particular attention to non-strict feedback structures. Based on…
Proportional - Integral - Derivative (PID) Controller is a primary component in industrial control systems nowadays. Its gain parameters have a powerful effect on its transient response criteria such as integral squared error (ISE),…
This paper presents the comparison of two non-linear model-based control strategies for autonomous cars. A control oriented model of vehicle based on a bicycle model is used. The two control strategies use a model reference approach. Using…
Solar energy generation requires efficient monitoring and management in moving towards technologies for net-zero energy buildings. This paper presents a dependable control system based on the Internet of Things (IoT) to control and manage…
In this paper, the dynamic couplings among different inputs and outputs of a highly nonlinear spark ignition (SI) engine control problem during the cold start phase are evaluated by using relative gain array (RGA) technique. First, based on…
Single time-scale distributed estimation of dynamic systems via a network of sensors/estimators is addressed in this letter. In single time-scale distributed estimation, the two fusion steps, consensus and measurement exchange, are…
A Delta-Sigma modulator that is often utilized to convert analog signals into digital signals can be modeled as a static uniform quantizer with an error feedback filter. In this paper, we present a rate-distortion analysis of quantizers…
Stationarity is a cornerstone property that facilitates the analysis and processing of random signals in the time domain. Although time-varying signals are abundant in nature, in many practical scenarios the information of interest resides…
We study the complexity of deciding whether a modular discrete event system is detectable (resp. opaque, A-diagnosable). Detectability arises in the state estimation of discrete event systems, opacity is related to the privacy and security…
As more attention is paid to security in the context of control systems and as attacks occur to real control systems throughout the world, it has become clear that some of the most nefarious attacks are those that evade detection. The term…
For LTI control systems, we provide mathematical tools - in terms of Linear Matrix Inequalities - for computing outer ellipsoidal bounds on the reachable sets that attacks can induce in the system when they are subject to the physical…
A model-based windowed chi-squared procedure is proposed for identifying falsified sensor measurements. We employ the widely-used static chi-squared and the dynamic cumulative sum (CUSUM) fault/attack detection procedures as benchmarks to…
Embedded controllers for cyber-physical systems are often parameterized by look-up maps representing discretizations of continuous functions on metric spaces. For example, a non-linear control action may be represented as a table of…
We examine the merit of Bernoulli packet drops in actively detecting integrity attacks on control systems. The aim is to detect an adversary who delivers fake sensor measurements to a system operator in order to conceal their effect on the…