Related papers: Self-triggered control for constrained systems: a …
This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…
In this paper, a self-triggered adaptive model predictive control (MPC) algorithm is proposed for constrained discrete-time nonlinear systems subject to parametric uncertainties and additive disturbances. To bound the parametric…
We present a framework for model-free learning of event-triggered control strategies. Event-triggered methods aim to achieve high control performance while only closing the feedback loop when needed. This enables resource savings, e.g.,…
This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect the plant and reference system with decentralized…
We extend previous work on symbolic self-triggered control for non-deterministic continuous-time nonlinear systems without stability assumptions to a larger class of specifications. Our goal is to synthesise a controller for two objectives:…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
Controlling complex dynamical systems has been a topic of considerable interest in academic circles in recent decades. While existing works have primarily focused on closed-loop control schemes with infinite-time durations, this paper…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
In this paper the problem of stabilizing large-scale systems by distributed controllers, where the controllers exchange information via a shared limited communication medium is addressed. Event-triggered sampling schemes are proposed, where…
In this paper, we investigate novel self-triggered controllers for nonlinear control systems with reachability and safety specifications. To synthesize the self-triggered controller, we leverage the notion of symbolic models, or…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
A method for certifying exact input trackability for constrained discrete time linear systems is introduced in this paper. A signal is assumed to be drawn from a reference set and the system must track this signal with a linear combination…
In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC scheme is able to guarantee different performance specifications (e.g.…
In this paper, we study the problem of hybrid event-triggered control for a class of nonlinear time-delay systems. Using a Razumikhin-type input-to-state stability result for time-delay systems, we design an event-triggered control…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
This paper formulates a framework for the analysis and distributed control of interconnected systems from the behavioural perspective. The discussions are carried out from the viewpoint of set theory and the results are completely…
In this work, we present a compositional safety controller synthesis approach for the class of discrete-time linear control systems. Here, we leverage a state-of-the-art result on the computation of robust controlled invariant sets. To…