Systems and Control
Distributed controllers are often necessary for a multi-agent system to satisfy safety properties such as collision avoidance. Communication and coordination are key requirements in the implementation of a distributed control protocol, but…
In this paper, bilateral teleoperation of multiple slaves coupled to a single master under scheduling communication is investigated. The sampled-data transmission between the master and the multiple slaves is fulfilled over a delayed…
This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. A…
This paper considers the notion of herdability, a set-based reachability condition, which asks whether the state of a system can be controlled to be element-wise larger than a non-negative threshold. The basic theory of herdable systems is…
In this paper, we study the global stability properties of a multi-agent model of natural resource consumption that balances ecological and social network components in determining the consumption behavior of a group of agents. The social…
The paper extends the concepts of dominance and p-dissipativity to the non-smooth family of linear complementarity systems. Dominance generalizes incremental stability whereas p-dissipativity generalizes incremental passivity. The…
We present a simulation-based approach for generating barrier certificate functions for safety verification of cyber-physical systems (CPS) that contain neural network-based controllers. A linear programming solver is utilized to find a…
The energetic flexibility of electric energy resources can be exploited when trading on wholesale energy and ancillary service markets. This paper considers the problem of a Balance Responsible Party to maximize its profit from trading on…
Privacy is an increasing concern in cyber-physical systems that operates over a shared network. In this paper, we propose a method for privacy verification of cyber- physical systems modeled by Markov decision processes (MDPs) and…
Autonomous driving technology pledges safety, convenience, and energy efficiency. Challenges include the unknown intentions of other road users: communication between vehicles and with the road infrastructure is a possible approach to…
Constant-power loads are notoriously known to destabilise power systems, such as DC microgrids, due to their negative incremental impedance. This paper equips distributed generation units with decentralised L1 adaptive controllers at the…
Dynamic networks are structured interconnections of dynamical systems (modules) driven by external excitation and disturbance signals. In order to identify their dynamical properties and/or their topology consistently from measured data, we…
These are the proceedings of the Second International Workshop on Safe Control of Autonomous Vehicles, which took place on the 10th of April 2018 in Porto, Portugal as an affiliated workshop of CSPWeek. The task of this workshop is to…
A frequency based data-driven control design considering mixed H2/H-infinity control objectives is developed for multiple input-single output systems. The main advantage of the data-driven control over the model-based control is its ability…
This technical report provides the description and the derivation of a novel nonlinear unknown input and state estimation algorithm (NUISE) for mobile robots. The algorithm is designed for real-world robots with nonlinear dynamic models and…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
This paper considers a sequential sensor scheduling and remote estimation problem with multiple communication channels. Departing from the classical remote estimation paradigm, which involves one communication channel (noiseless or noisy),…
We present CODEV, a Matlab-based tool for verifying systems employing Model Predictive Control (MPC). The MPC solution is computed offline and modeled together with the physical system as a hybrid automaton, whose continuous dynamics may be…
Nonlinear observer design for systems whose state space evolves on Lie groups is considered. The proposed method is similar to previously developed nonlinear observers in that it involves propagating the state estimate using a process model…
A number of wave energy controllers tune the power take-off (PTO) system to the frequency of incident waves. Since real ocean waves are non-stationary by nature and not defined by a single frequency component, the PTO can be either tuned at…