Related papers: A packet-based dual-rate PID control strategy for …
Achieving control stability is one of the key design challenges of scalable Wireless Networked Control Systems (WNCS) under limited communication and computing resources. This paper explores the use of an alternative control concept defined…
The traditional proportional-integral-derivative (PID) algorithm for regulation suffers from a tradeoff: placing the sensor near the sample being regulated ensures that its steady-state temperature matches the desired setpoint. However, the…
In this paper, a nonlinear system aiming at reducing the signal transmission rate in a networked control system is constructed by adding nonlinear constraints to a linear feedback control system. Its stability is investigated in detail. It…
Distributed secondary frequency control for power systems, is a problem that has been extensively studied in the literature, and one of its key features is that an additional communication network is required to achieve optimal power…
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…
A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance system. It integrates a self-adjusting nonlinear threshold…
We consider protocols that serve communication requests arising over time in a wireless network that is subject to interference. Unlike previous approaches, we take the geometry of the network and power control into account, both allowing…
We consider the problem of minimizing the delay of jobs moving through a directed graph of service nodes. In this problem, each node may have several links and is constrained to serve one link at a time. As jobs move through the network,…
Next-generation networks aim to provide performance guarantees to real-time interactive services that require timely and cost-efficient packet delivery. In this context, the goal is to reliably deliver packets with strict deadlines imposed…
Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…
We present a controller tuning strategy for first-order plus time delay (FOPTD) processes, where the time delay in the model is approximated using the Pad\'e function. Using Routh-Hurwitz stability analysis, we derive the gain that gives…
Electricity peaks can be harmful to grid stability and result in additional generation costs to balance supply with demand. By developing a network of smart appliances together with a quasi-decentralized control protocol, direct load…
We consider transport layer approaches for achieving high rate, low delay communication over edge paths where the bottleneck is an 802.11ac WLAN. We first show that by regulating send rate so as to maintain a target aggregation level it is…
Networked control systems (NCS) have attracted considerable attention in recent years. While the stabilizability and optimal control of NCS for a given communication system has already been studied extensively, the design of the…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
In heterogeneous networks (HetNets), load balancing among different tiers can be effectively achieved by a biased user association scheme with which each user chooses to associate with one base station (BS) based on the biased received…
The feedforward selective fixed-filter method selects the most suitable pre-trained control filter based on the spectral features of the detected reference signal, effectively avoiding slow convergence in conventional adaptive algorithms.…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…