Systems and Control
We consider the problem of retrieving a reliable estimate of an attribute monitored by a wireless sensor network, where the sensors harvest energy from the environment independently, at random. Each sensor stores the harvested energy in…
We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…
This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed…
This paper presents adaptive link selection algorithms for distributed estimation and considers their application to wireless sensor networks and smart grids. In particular, exhaustive search--based least--mean--squares(LMS)/recursive least…
A block sparse memory improved proportionate affine projection sign algorithm (BS-MIP-APSA) is proposed for block sparse system identification under impulsive noise. The new BS-MIP-APSA not only inherits the performance improvement for…
We propose a macroscopic modeling framework for a network of roads and multi-commodity traffic. The proposed framework is based on the Lighthill-Whitham-Richards kinematic wave theory; more precisely, on its discretization, the Cell…
The theory of integral quadratic constraints (IQCs) allows verification of stability and gain-bound properties of systems containing nonlinear or uncertain elements. Gain bounds often imply exponential stability, but it can be challenging…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
We analyze the convergence aspects of the invariant extended Kalman filter (IEKF), when the latter is used as a deterministic non-linear observer on Lie groups, for continuous-time systems with discrete observations. One of the main…
We consider continuous-time consensus systems whose interactions satisfy a form or reciprocity that is not instantaneous, but happens over time. We show that these systems have certain desirable properties: They always converge…
Recently, a new approach to the adaptive control of linear time-invariant plants with unknown parameters (referred to as second level adaptation), was introduced by Han and Narendra in [1]. Based on $N (\geq m+1)$ fixed or adaptive models…
This paper is concerned with the analysis and design of secure Distributed Control Systems in the face of integrity attacks on sensors and controllers by external attackers or insiders. In general a DCS consists of many heterogenous…
In this paper, we establish a few new synchronization conditions for complex networks with nonlinear and nonidentical self-dynamics with switching directed communication graphs. In light of the recent works on distributed sub-gradient…
This paper studies event-triggered stabilization of linear time-invariant systems over time-varying rate-limited communication channels. We explicitly account for the possibility of channel blackouts, i.e., intervals of time when the…
This paper addresses the problem of exponential practical stabilization of linear time-invariant systems with disturbances using event-triggered control and bounded communication bit rate. We consider both the case of instantaneous…
This paper considers nonlinear systems with full state feedback, a central controller and distributed sensors not co-located with the central controller. We present a methodology for designing decentralized asynchronous event-triggers,…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
A new application of duality relations of stochastic processes is demonstrated. Although conventional usages of the duality relations need analytical solutions for the dual processes, we here employ numerical solutions of the dual processes…
This paper introduces a Global Positioning System (GPS) Receiver that locates user's position instantly. Recently, many mobile devices require location information to add user position into their contents, and some applications require…
We present a closed form expression for the information matrix associated with the Wiener model identification problem under the assumption that the input signal is a stationary Gaussian process. This expression holds under quite generic…