Related papers: Synthesizing communication plans for reachability …
In this work, we establish different control design approaches for discrete-time systems, which build upon the notion of finite-step control Lyapunov functions (fs-CLFs). The design approaches are formulated as optimization problems and…
This paper develops a semidefinite-programming-based method for online feedback control of nonlinear systems using a state-dependent representation. We formulate sequences of time-varying SDPs whose optimal solutions jointly yield a…
We investigate control of a non-linear process when communication and processing capabilities are limited. The sensor communicates with a controller node through an erasure channel which introduces i.i.d. packet dropouts. Processor…
We investigate optimal resource allocation for delay-limited cooperative communication in time varying wireless networks. Motivated by real-time applications that have stringent delay constraints, we develop a dynamic cooperation strategy…
Autonomous motion planning under unknown nonlinear dynamics requires learning system properties while navigating toward a target. In this work, we develop a hierarchical planning-control framework that enables online motion synthesis with…
We consider a nonlinear discrete stochastic control system, and our goal is to design a feedback control policy in order to lead the system to a prespecified state. We adopt a stochastic approximation viewpoint of this problem. It is known…
We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
The probabilistic reachability problems of nondeterministic systems are studied. Based on the existing studies, the definition of probabilistic reachable sets is generalized by taking into account time-varying target set and obstacle. A…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
In this article, we consider a nonlinear process with delayed dynamics to be controlled over a communication network in the presence of disturbances and study robustness of the resulting closed-loop system with respect to network-induced…
In many multi-agent systems, communication is limited by bandwidth, latency, and energy constraints. Designing controllers that achieve coordination and safety with minimal communication is critical for scalable and reliable deployment.…
We propose a technique for the design and analysis of decentralized adaptation algorithms in interconnected dynamical systems. Our technique does not require Lyapunov stability of the target dynamics and allows nonlinearly parameterized…
This paper deals with the design of scheduling logics for Networked Control Systems (NCSs) whose shared communication networks have limited capacity. We assume that among \(N\) plants, only \(M\:(< N)\) plants can communicate with their…
The control of chaotic systems implies inducing an unpredictable system to follow a desired trajectory using the smallest "force". In low-dimensional continuous systems, one method is that of reconstructing the tangent space, so that the…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set $S$ in a user-defined or prescribed time $T$. We define a new class of control Lyapunov functions, called…
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…