Related papers: Simultaneous Sensor and Actuator Selection/Placeme…
This article studies two problems related to observability and efficient constrained sensor placement in linear time-invariant discrete-time systems with partial state observations. (i) We impose the condition that both the set of outputs…
Active sensing refers to the process of choosing or tuning a set of sensors in order to track an underlying system in an efficient and accurate way. In a wireless environment, among the several kinds of features extracted by traditional…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
Output feedback stabilization of control systems is a crucial issue in engineering. Most of these systems are not uniformly observable, which proves to be a difficulty to move from state feedback stabilization to dynamic output feedback…
We consider the problem of finding optimal time-periodic sensor schedules for estimating the state of discrete-time dynamical systems. We assume that {multiple} sensors have been deployed and that the sensors are subject to resource…
Steady state multiplicity can occur in nonlinear systems, and this presents challenges to feedback control. Input multiplicity arises when the same steady state output values can be reached with system inputs at different values. Dynamic…
This paper studies the problem of selecting a minimum-size set of input nodes to guarantee stability of a networked system in the presence of uncertainties and time delays. Current approaches to input selection in networked dynamical…
In this article, we consider a fundamental decentralized optimal control problem, which we call the two-player problem. Two subsystems are interconnected in a nested information pattern, and output feedback controllers must be designed for…
This paper deals with the H2 suboptimal state containment control problem for homogeneous linear multi-agent systems and the H2 suboptimal output containment control problem for heterogeneous linear multi-agent systems. For both problems,…
In this paper, we identify the smallest set of control input nodes and an associated output feedback law that achieves complete disturbance decoupling for a class of coupled oscillator networks. The focus is specifically on systems…
This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most…
In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…
This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are…
Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…
A networked output feedback loop subject to packetized transmissions of the output signal is considered. Based on the small gain theorem, an easy-to-use stability criterion covering two important cases is presented. In the first case a…
In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…
We present a procedure to simultaneously design the output feedback law and the event-triggering condition to stabilize linear systems. The closed-loop system is shown to satisfy a global asymptotic stability property and the existence of a…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
This article considers output-feedback control of systems where the function mapping states to measurements has a set-valued inverse. We show that if the set has a bounded number of elements, then minimax dual control of such systems admits…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…