Systems and Control
In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm…
Matrix spectral factorization is traditionally described as finding spectral factors having a fixed analytic pole configuration. The classification of spectral factors then involves studying the solutions of a certain algebraic Riccati…
This paper is concerned with networks of interacting linear systems at sites of a multidimensional lattice. The systems are governed by linear ODEs with constant coefficients driven by external inputs, and their internal dynamics and…
The speed limit changes frequently throughout the transportation network, due to either safety (e.g., change in geometry) or congestion management (e.g., speed harmonization systems). Any abrupt reduction in the speed limit can create a…
The Variation Evolving Method (VEM), which seeks the optimal solutions with the variation evolution principle, is further developed to be more flexible in solving the Optimal Control Problems (OCPs) with terminal constraint. With the…
We revisit the static coverage control problem for placement of vehicles with simple motion on the real line, under the assumption that the cost is a polynomial function of the locations of the vehicles. The main contribution of this paper…
How to effectively and reliably guarantee the correct functioning of safety-critical cyber-physical systems in uncertain conditions is a challenging problem. This paper presents a data-driven algorithm to derive approximate abstractions for…
Retentive (memory-utilizing) sensing-acting agents may operate under limitations on the communication between their sensing, memory and acting components, requiring them to trade off the external cost that they incur with the capacity of…
With the increased demand for power efficiency in feedback-control systems, communication is becoming a limiting factor, raising the need to trade off the external cost that they incur with the capacity of the controller's communication…
This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…
The cost associated with developing flight control forms a significant part of the overall development cost. The increased demand for greater functionality and for extending the domain of applicability of future launchers leads to higher…
This paper studies the stability of voltage dynamics for a power network in which nodal voltages are controlled by means of quadratic droop controllers with nonlinear AC reactive power as inputs. We show that the voltage dynamics is a…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
In this dissertation, we address a problem of safe and efficient intersection crossing traffic management of autonomous and connected ground traffic. Toward this objective, an algorithm that is called the Discrete-time occupancies…
Data-Driven Inversion-Based Control (D$^{2}$-IBC) is a recently introduced control design method for uncertain nonlinear systems, relying on a two degree-of-freedom architecture, with a nonlinear controller and a linear controller running…
We present a method of computing backward reachable sets for nonlinear discrete-time control systems possessing continuous symmetries. The starting point is a dynamic game formulation of reachability analysis where control inputs aim to…
We present a framework for constructing structured realizations of linear dynamical systems having transfer functions of the form $C(\sum_{k=1}^K h_k(s)A_k)^{-1}B$ where $h_1,h_2,\ldots,h_K$ are prescribed functions that specify the…
In this paper, we study performance limits of sensor localization from a novel perspective. Specifically, we consider the Cramer-Rao Lower Bound (CRLB) in single-hop sensor localization using measurements from received signal strength…
We study the problem of collaboratively estimating the state of an LTI system monitored by a network of sensors, subject to the following important practical considerations: (i) certain sensors might be arbitrarily compromised by an…
Abstraction of a continuous-space model into a finite state and input dynamical model is a key step in formal controller synthesis tools. To date, these software tools have been limited to systems of modest size (typically $\leq$ 6…