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This paper addresses the unsourced/uncoordinated random access problem in an integrated sensing and communications (ISAC) system, with a focus on uplink multiple access code design. Recent theoretical advancements highlight that an ISAC…
Flight dynamics involve uncertainties in parameters, aerodynamic derivatives, and engine thrust. These uncertainties can be categorized into three types: known-predictable, known-unpredictable, and unknown. While advanced control systems…
This work investigates the consensus problem for multi-agent nonlinear systems through the distributed real-time nonlinear receding horizon control methodology. With this work, we develop a scheme to reach the consensus for nonlinear multi…
This article addresses obstacle avoidance motion planning for autonomous vehicles, specifically focusing on highway overtaking maneuvers. The control design challenge is handled by considering a mathematical vehicle model that captures both…
Integrated sensing and communication (ISAC), with sensing and communication sharing the same wireless resources and hardware, has the advantages of high spectrum efficiency and low hardware cost, which is regarded as one of the key…
Many techniques have been developed for the loop-shaping method in control design. While most loop-shaping methods apply a model of the open-loop controlled plant, the resulting performance depends on the accuracy of the dynamical model.…
This paper studies strategic design in an integrated sensing and communication (ISAC) architecture for feedback control of cyber-physical systems. We focus on a setting in which the regulation of a physical process (i.e., remote source) is…
It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…
Accurate and robust positioning of rotor axle is essential for efficient and safe operation of high-speed rotational machines with active magnetic bearings. This study presents a cascaded nonlinear control strategy for vertical axial…
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…
This paper considers the problem of nonstationary process monitoring under frequently varying operating conditions. Traditional approaches generally misidentify the normal dynamic deviations as faults and thus lead to high false alarms.…
Integrated sensing and communication (ISAC) unifies radar sensing and communication, and improves the efficiency of the spectrum, energy and hardware. In this paper, we investigate the ISAC beamforming design in a downlink system with a…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
The goal of this work is to enable a team of quadrotors to learn how to accurately track a desired trajectory while holding a given formation. We solve this problem in a distributed manner, where each vehicle has only access to the…
In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended state observer (LESO) used in Conventional ADRC (C-ADRC) with a Nested LESO. In the nested LESO, the inner-loop LESO…
The closed-loop stability and infinite-horizon performance of receding-horizon approximations are studied for non-stationary linear-quadratic regulator (LQR) problems. The approach is based on a lifted reformulation of the optimal control…
This correspondence paper studies a network integrated sensing and communication (ISAC) system that unifies the interference channel for communication and distributed radar sensing. In this system, a set of distributed ISAC transmitters…
Task and Motion Planning has made great progress in solving hard sequential manipulation problems. However, a gap between such planning formulations and control methods for reactive execution remains. In this paper we propose a model…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
This paper presents the Relaxed Continuous-Time Actor-critic (RCTAC) algorithm, a method for finding the nearly optimal policy for nonlinear continuous-time (CT) systems with known dynamics and infinite horizon, such as the path-tracking…