Systems and Control
This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…
Classes of performance measures expressed in terms of ${\cal H}_2$-norms have been recently introduced to quantify the response of coupled dynamical systems to external perturbations. So far, investigations of these performance measures…
This paper is about obtaining stable vehicle platooning by using Cooperative Adaptive Cruise Control when the communication is unreliable and suffers from message losses. We model communication losses as independent random events and we…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
This paper investigates the autonomous control of massive unmanned aerial vehicles (UAVs) for mission-critical applications (e.g., dispatching many UAVs from a source to a destination for firefighting). Achieving their fast travel and low…
In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability.…
Urban wastewater sector is being pushed to optimize processes in order to reduce energy consumption without compromising its quality standards. Energy costs can represent a significant share of the global operational costs (between 50% and…
This paper is concerned with a compositional approach for constructing infinite abstractions of interconnected discrete-time stochastic control systems. The proposed approach uses the interconnection matrix and joint dissipativity-type…
This paper analyzes the stability of the control system of an Autonomous Guided Vehicle (AGV) using a central controller. The control commands are transmitted to an AGV over a Rayleigh fading channel causing potential packet drops. This…
Next-generation autonomous systems must execute complex tasks in uncertain environments. Active perception, where an autonomous agent selects actions to increase knowledge about the environment, has gained traction in recent years for…
In this paper an uncertain norm-bounded mathematical model for the UAV High Altitude Performance Demonstrator (HAPD) designed by Italian Aerospace Research Center (CIRA) is carried out. The linear state space description aims to describe…
This paper presents a novel method to attenuate large horizontal wind disturbance for a small-scale unmanned autonomous helicopter combining wind tunnel-based experimental data and a backstepping algorithm. Large horizontal wind disturbance…
Emergent cooperative adaptive cruise control (CACC) strategies being proposed in the literature for platoon formation in the Connected Autonomous Vehicle (CAV) context mostly assume idealized fixed information flow topologies (IFTs) for the…
Suboptimal model predictive control is a technique that can reduce the computational cost of model predictive control (MPC) by exploiting its robustness to incomplete optimization. Instead of solving the optimal control problem exactly,…
Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention,…
Intelligently designed false data injection (FDI) attacks have been shown to be able to bypass the $\chi^2$-test based bad data detector (BDD), resulting in physical consequences (such as line overloads) in the power system. In this paper,…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
In this article, we assess the string stability of seven 2018 model year adaptive cruise control (ACC) equipped vehicles that are widely available in the US market. Seven distinct vehicle models from two different vehicle makes are analyzed…
In this paper, we compare the number of unmatched nodes and the size of dilations in two main random network models, the Scale-Free and Clustered Scale-Free networks. The number of unmatched nodes determines the necessary number of control…
In this paper, we propose an efficient continuation method for locating multiple power flow solutions. We adopt the holomorphic embedding technique to represent solution curves as holomorphic functions in the complex plane. The…