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This paper considers a co-design problem for industrial networked control systems to ensure both the stability and efficiency properties of such systems. The assurance of such properties is particularly challenging due to the fact that…
We present a case study applying learning-based distributionally robust model predictive control to highway motion planning under stochastic uncertainty of the lane change behavior of surrounding road users. The dynamics of road users are…
Reliably transmitting messages despite information loss due to a noisy channel is a core problem of information theory. One of the most important aspects of real world communication, e.g. via wifi, is that it may happen at varying levels of…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
This work investigates the probability that the delay and the peak-age of information exceed a desired threshold in a point-to-point communication system with short information packets. The packets are generated according to a stationary…
This work studies mean-square stabilizability via output feedback for a networked linear time invariant (LTI) feedback system with a non-minimum phase plant. In the feedback system, the control signals are transmitted to the plant over a…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
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…
It is well known that stability is the most fundamental nature with regard to a control system, in view of this, the stabilization becomes an inevitable control problem. This article mainly discusses the optimal control and stabilization…
This technical note investigates the minimum average transmit power required for mean-square stabilization of a discrete-time linear process across a time-varying additive white Gaussian noise (AWGN) fading channel that is presented between…
In this work, we address the delay optimal scheduling problem for wireless transmission with fixed modulation over multi-state fading channels. We propose a stochastic scheduling policy which schedules the source to transmit with…
We consider protocols that serve communication requests arising over time in a wireless network that is subject to interference. Unlike previous approaches, we take the geometry of the network and power control into account, both allowing…
We solve a linear quadratic optimal control problem for sampled-data systems with stochastic delays. The delays are stochastically determined by the last few delays. The proposed optimal controller can be efficiently computed by iteratively…
Real-time applications require latencies on the order of a millisecond with very high reliabilities, paralleling the requirements for high-performance industrial control. Current wireless technologies like WiFi, Bluetooth, LTE, etc. are…
We consider stability of scheduled multiaccess message communication with random coding and joint maximum-likehood decoding of messages. The framework we consider here models both the random message arrivals and the subsequent reliable…
We suggest a model for data losses in a single node of a packet-switched network (like the Internet) which reduces to one-dimensional discrete random walks with unusual boundary conditions. The model shows critical behavior with an abrupt…
In this paper we analyze the probability of consistency of sensor data distribution systems (SDDS), and determine suitable evaluation models. This problem is typically difficult, since a reliable model taking into account all parameters and…
In factory automation, heterogeneous manufacturing processes need to be coordinated over wireless networks to achieve safety and efficiency. These wireless networks, however, are inherently unreliable due to shadow fading induced by the…
In this paper, we consider the problem of second moment stabilization of a scalar linear plant with process noise. We assume that the sensor must communicate with the controller over an unreliable channel, whose state evolves according to a…
Much of the current theory of networked control systems uses simple point-to-point communication models as an abstraction of the underlying network. As a result, the controller has very limited information on the network conditions and…