Related papers: Feedback Control Goes Wireless: Guaranteed Stabili…
Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
In future autonomous systems, wireless multi-hop communication is key to enable collaboration among distributed agents at low cost and high flexibility. When many agents need to transmit information over the same wireless network,…
High-performance real-time wireless connectivity is at the heart of the Industrial Internet-of-Things (IIoT). Realizing wireless closed-loop control is crucial for various mission-critical IIoT systems. Existing wireless technologies fall…
We analyze a classification of two main families of controllers that are of interest when the feedback loop is subject to switching propagation delays due to routing via a wireless multi-hop communication network. We show that we can cast…
High-performance industrial automation systems rely on tens of simultaneously active sensors and actuators and have stringent communication latency and reliability requirements. Current wireless technologies like WiFi, Bluetooth, and LTE…
Closed-loop or feedback control ratchets use information about the state of the system to operate with the aim of maximizing the performance of the system. In this paper we investigate the effects of a time delay in the feedback for a…
The spectrum-rich millimeter wave (mmWave) frequencies have the potential to alleviate the spectrum crunch that the wireless and cellular operators are already experiencing. However, compared with traditional wireless communication in the…
This paper analyzes the throughput of industrial communication networks under a secrecy constraint. The proposed scenario is composed by sensors that measure some relevant information of the plant that is first processed by aggregator node…
Wireless sensor networks (WSNs) have received great interest due to their scalability, energy efficiency, and low-cost deployment. By utilizing multi-hop communication, WSNs can cover a wide area using low transmission power without the…
Wireless sensor networks have been increasingly used for real-time surveillance over large areas. In such applications, it is important to support end-to-end delay constraints for packet deliveries even when the corresponding flows require…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Control of wireless multihop networks, while simultaneously meeting end-to-end mean delay requirements of different flows is a challenging problem. Additionally, distributed computation of control parameters adds to the complexity. Using…
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
Feedback loops are known as a versatile tool for controlling transport in small systems, which usually have large intrinsic fluctuations. Here we investigate the control of a temporal correlation function, the waiting time distribution,…
Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller which guarantees stability, in spite of…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
Superconducting qubits are a promising platform for building a larger-scale quantum processor capable of solving otherwise intractable problems. In order for the processor to reach practical viability, the gate errors need to be further…
A simple feedback control algorithm is presented for distributed beamforming in a wireless network. A network of wireless sensors that seek to cooperatively transmit a common message signal to a Base Station (BS) is considered. In this…