Related papers: Passivity based distributed tracking control of ne…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

We study output tracking and disturbance rejection for an Euler-Bernoulli beam with Kelvin-Voigt damping. The system has distributed control and pointwise observation. As our main result we design a finite-dimensional low-order internal…

This paper addresses the problem of controlling the temporal dynamics of complex nonlinear network-coupled dynamical systems, specifically in terms of neurodynamics. Based on the Lyapunov direct method, we derive a control strategy with…

This paper studies the safety-critical control problem for Euler-Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints in accordance with affordable velocity ranges. A key strategy is to exploit the underlying…

In this paper, we propose a novel framework for modeling and analysis of networked discrete-event systems (DES). We assume that the plant is controlled by a feedback supervisor whose control decisions are subject to communication delays and…

Algebraically speaking, linear time-invariant (LTI) systems can be considered as modules. In this framework, controllability is translated as the freeness of the system module. Optimal control mainly relies on quadratic Lagrangians and the…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…

This paper proposes a robust control strategy that integrates Iterative Learning Control (ILC) with a simple lateral neural network to enhance the trajectory tracking performance of a linear Lorentz force actuator under friction and model…

This paper investigates distributed control and incentive mechanisms to coordinate distributed energy resources (DERs) with both continuous and discrete decision variables as well as device dynamics in distribution grids. We formulate a…

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…

In this note, the coordination of linear discrete-time multi-agent systems over digital networks is investigated with unmeasurable states in agents' dynamics. The quantized-observer based communication protocols and Certainty Equivalence…

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…

A macroscopic model is proposed to depict the traffic dynamics involved in urban traffic systems. The link dynamics are described based on the cell-transmission model and bounded by the link capacities, while the flow dynamics are proposed…

We consider cooperative communications with energy harvesting (EH) relays, and develop a distributed power control mechanism for the relaying terminals. Unlike prior art which mainly deal with single-relay systems with saturated traffic…

There has been an increasing interest in learning dynamics simulators for model-based control. Compared with off-the-shelf physics engines, a learnable simulator can quickly adapt to unseen objects, scenes, and tasks. However, existing…

Model Predictive Control (MPC) is a vital technique for autonomous systems, like Unmanned Aerial Vehicles (UAVs), enabling optimized motion planning. However, traditional MPC struggles to adapt to real-time changes such as dynamic obstacles…

We study feedback control of a dynamical process over a lossy channel equipped with a hybrid automatic repeat request protocol that connects a sensor to an actuator. The dynamical process is modeled by a Gauss-Markov process, and the lossy…

This paper introduces an energy-efficient, software-defined vehicular edge network for the growing intelligent connected transportation system. A joint user-centric virtual cell formation and resource allocation problem is investigated to…