Related papers: Demo Abstract: Fast Feedback Control and Coordinat…
This paper proposes a general framework for constructing feedback controllers that drive complex dynamical systems to "efficient" steady-state (or slowly varying) operating points. Efficiency is encoded using generalized equations which can…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
As the domain of cyber-physical systems continues to grow, an increasing number of tightly-coupled distributed applications will be implemented on top of wireless networking technologies. Some of these applications, including collaborative…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
A closed-loop control of a reaction-diffusion type process is introduced. The control system consist of a finite number of control and measurement devices. The measurement devices collect information about the current state of the process.…
Switching controlled dynamics allows for fast, flexible control design methods for quantum stabilization of pure states and subspaces, which naturally include both Hamiltonian and dissipative control actions. A novel approach to…
Complex networks are a successful framework to describe collective behaviour in many applications, but a notable gap remains in the current literature, that of proving asymptotic convergence in networks of piecewise-smooth systems. Indeed,…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
A major challenge of wireless multicast is to be able to support a large number of users while simultaneously maintaining low delay and low feedback overhead. In this paper, we develop a joint coding and feedback scheme named Moving Window…
This paper discusses the in-domain feedback stabilization of reaction-diffusion PDEs with Robin boundary conditions in the presence of an uncertain time- and spatially-varying delay in the distributed actuation. The proposed control design…
Feedback control schemes are a promising way to manipulate transport properties of driven colloidal suspensions. In the present article we suggest a feedback scheme to enhance the collective transport of colloidal particles with repulsive…
A key issue in the control of distributed discrete systems modeled as Markov decisions processes, is that often the state of the system is not directly observable at any single location in the system. The participants in the control scheme…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
The goal of this report is to define abstractions for multi-agent systems with feedback interconnection in their dynamics. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only…
We introduce a real-time, human-in-the-loop gesture control framework that can dynamically adapt audio and music based on human movement by analyzing live video input. By creating a responsive connection between visual and auditory stimuli,…
This paper is concerned with the detection, resilient and fault-tolerant control issues for cyber-physical systems. To this end, the impairment of system dynamics caused by the defined types of cyber-attacks and process faults is analyzed.…
The implementation of a combination of continuous weak measurement and classical feedback provides a powerful tool for controlling the evolution of quantum systems. In this work, we investigate the potential of this approach from three…
In large process control systems it frequently becomes desirable to establish feedback relationships that were not anticipated during the design phase of the project. The "Generic Lock" architecture discussed in this paper makes it possible…
Mesoscopic structures are generally operated in an open-loop configuration, whereas most practical electronics including quantum interference devices such as SQUIDs are operated closed-loop, taking advantage of feedback. This paper presents…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…