Related papers: Fast Feedback Control over Multi-hop Wireless Netw…
More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…
This paper presents Whisper, a fast and reliable protocol to flood small amounts of data into a multi-hop network. Whisper makes use of synchronous transmissions, a technique first introduced by the Glossy flooding protocol. In contrast to…
In this paper, we propose a cross-layer scheduling algorithm that achieves a throughput "epsilon-close" to the optimal throughput in multi-hop wireless networks with a tradeoff of O(1/epsilon) in delay guarantees. The algorithm aims to…
Smart and connected mobility systems rely on 5G edge infrastructure to support real-time communication, control, and service differentiation. Achieving this requires adaptive resource management mechanisms that can react to rapidly changing…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
For the sake of saving time and costs the feedback control based on discrete-time observations is used to stabilize the switching diffusion systems. Response lags are required by most of physical systems and play a key role in the feedback…
The tremendous capacity gains promised by space division multiple access (SDMA) depend critically on the accuracy of the transmit channel state information. In the broadcast channel, even without any network interference, it is known that…
There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the…
Feedback control protocols can stabilize and enhance the operation of quantum devices, however, unavoidable delays in the feedback loop adversely affect their performance. We introduce a quantum control methodology, combining open-loop…
Due to their inherent complexity, engineered wireless multihop ad hoc communication networks represent a technological challenge. Having no mastering infrastructure the nodes have to selforganize themselves in such a way that for example…
Ubiquitous multicore processors nowadays rely on an integrated packet-switched network for cores to exchange and share data. The performance of these intra-chip networks is a key determinant of the processor speed and, at high core counts,…
In-hand dexterous telemanipulation requires not only precise remote motion control of the robot but also effective haptic feedback to the human operator to ensure stable and intuitive interactions between them. Most existing haptic devices…
The throughput efficiency of a wireless mesh network with potentially malicious external or internal interference can be significantly improved by equipping routers with multi-radio access over multiple channels. For reliably mitigating the…
We consider the optimal control of linear systems over wireless MIMO fading channels, where the MIMO wireless fading and random access of the remote controller may cause intermittent controllability or uncontrollability of the closed-loop…
Heterogeneous networks are a flexible deployment model that rely on low power nodes to improve the user broadband experience in a cost effective manner. Femtocells are an integral part of heterogeneous networks, whose main purpose is to…
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…
Controlling complex networks is of paramount importance in science and engineering. Despite recent efforts to improve controllability and synchronous strength, little attention has been paid to the speed of pinning synchronizability (rate…
Feedback loops are at the heart of most classical control procedures. A controller compares the signal measured by a sensor with the target value. It adjusts then an actuator in order to stabilize the signal towards its target. Generalizing…
Effective data collection in contact-rich manipulation requires force feedback during teleoperation, as accurate perception of contact is crucial for stable control. However, such technology remains uncommon, largely because bilateral…
Underactuation is ubiquitous in human locomotion and should be ubiquitous in bipedal robotic locomotion as well. This chapter presents a coherent theory for the design of feedback controllers that achieve stable walking gaits in…