Related papers: Demo Abstract: Fast Feedback Control and Coordinat…
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…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…
Almost sure asymptotic stabilization of a discrete-time switched stochastic system is investigated. Information on the active operation mode of the switched system is assumed to be available for control purposes only at random time…
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…
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,…
In this paper we propose and quantitatively evaluate three performance optimization methods that exploit the concept of communication-compute-control co-design by introducing awareness of communication and compute characteristics into the…
Coherent feedback is a non-measurement based, hence a back-action free, method of control for quantum systems. A typical application of this control scheme is squeezing enhancement, a purely non-classical effect in quantum optics. In this…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
Model Predictive Control (MPC) schemes have proven their efficiency in controlling high degree-of-freedom (DoF) complex robotic systems. However, they come at a high computational cost and an update rate of about tens of hertz. This…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
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…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
Achieving closed-loop control over wireless is crucial in realizing the vision of Industry 4.0 and beyond. This demonstration shows the viability of closed-loop control over wireless through a high-performance wireless solution. The…
The fast-slow dynamics of an eco-evolutionary system are studied, where we consider the feedback actions of environmental resources that are classified into those that are self-renewing and those externally supplied. We show although these…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Feedback or closed-loop control allows dynamical systems to increase their performance up to a limit imposed by the second law of thermodynamics. It is expected that within this limit, the system performance increases as the controller uses…
With the advent of 5G era, factories are transitioning towards wireless networks to break free from the limitations of wired networks. In 5G-enabled factories, unmanned automatic devices such as automated guided vehicles and robotic arms…
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…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…