Systems and Control
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…
In this work, we propose a region-based self-triggered control (STC) scheme for nonlinear systems. The state space is partitioned into a finite number of regions, each of which is associated to a uniform inter-event time. The controller, at…
This paper studies integral input-to-state stability (iISS) of nonlinear impulsive systems with time-delay in both the continuous dynamics and the impulses. Several iISS results are established by using the method of Lyapunov-Krasovskii…
Distributed optimization has gained significant attention in recent years, primarily fueled by the availability of a large amount of data and privacy-preserving requirements. This paper presents a fixed-time convergent optimization…
This paper discusses an interval-valued state estimator for linear dynamic systems. In particular, we derive an expression of the tightest possible interval-valued estimator in the sense that it is the intersection of all interval-valued…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…
Reachability analysis aims at identifying states reachable by a system within a given time horizon. This task is known to be computationally expensive for linear hybrid systems. Reachability analysis works by iteratively applying continuous…
Approximating the set of reachable states of a dynamical system is an algorithmic yet mathematically rigorous way to reason about its safety. Although progress has been made in the development of efficient algorithms for affine dynamical…
In this paper, we present a novel approach to synthesize invariant clusters for polynomial programs. An invariant cluster is a set of program invariants that share a common structure, which could, for example, be used to save the needs for…
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the states for safety regulation can be a challenging problem. In this paper, we propose a quadratic…
Jamming attacks on wireless networked control systems are investigated for the scenarios where the system dynamics face exogenous disturbance. In particular, the control input packets are assumed to be transmitted from a controller to a…
A representative set of fault diagnosis problems is formulated for linear time-invariant systems with additive faults. For all formulated problems, general existence conditions of their solutions are given. An overview of recent…
Infinitesimal contraction analysis, wherein global asymptotic convergence results are obtained from local dynamical properties, has proven to be a powerful tool for applications in biological, mechanical, and transportation systems. The…
A novel framework is presented that combines Mean Field Game (MFG) theory and Hybrid Optimal Control (HOC) theory to obtain a unique $\epsilon$-Nash equilibrium for a non-cooperative game with switching and stopping times. We consider the…
Mechanistic models in biology often involve numerous parameters about which we do not have direct experimental information. The traditional approach is to fit these parameters using extensive numerical simulations (e.g. by the Monte-Carlo…
Model Predictive Control (MPC) is a computationally demanding control technique that allows dealing with multiple-input and multiple-output systems, while handling constraints in a systematic way. The necessity of solving an optimization…
Communication energy in a wireless network of mobile autonomous agents should be considered as the sum of transmission energy and propulsion energy used to facilitate the transfer of information. Accordingly, communication-theoretic and…
Mobile agent networks, such as multi-UAV systems, are constrained by limited resources. In particular, limited energy affects system performance directly, such as system lifetime. It has been demonstrated in the wireless sensor network…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation with a master-slave system and teaching operation of robots.…