Related papers: Tracking Control of Nonlinear Networked and Quanti…
In this paper we address the problem of designing scheduling logic for stabilizing Networked Control Systems (NCSs) with plants and controllers remotely-located over a limited capacity communication network subject to data losses. Our…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…
A networked controlled system (NCS) in which the plant communicates to the controller over a channel with random delay loss is considered. The channel model is motivated by recent development of tree codes for NCS, which effectively…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
This paper studies the stabilization and safety problems of nonlinear time-delay systems, where time delays exist in system state and affect the controller design. Following the Razumikhin approach, we propose a novel control…
For the last few years, we assist to a growing interest of designing AQM (Active Queue Management) using control theory. In this paper, we focus on the synthesis of an AQM based on the Lyapunov theory for time delay systems. With the help…
In this paper, a global stability analysis is given for a rate-based congestion control system modeled by a nonlinear delayed differential equation. The model determines the dynamics of a single-source single-link network, with a…
With traditional open-loop scheduling of network resources, the quality-of-control (QoC) of networked control systems (NCSs) may degrade significantly in the presence of limited bandwidth and variable workload. The goal of this work is to…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
Delay-coordinate maps have been widely used recently to study nonlinear dynamical systems, where there is only access to the time series of one of their variables. Here, we show how the partial control method can be applied in this kind of…
The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpectedly. Here, we present a stability theorem for nonlinear…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
Timeout control is a simple mechanism used when direct feedback is either impossible, unreliable, or too costly, as is often the case in distributed systems. Its effectiveness is determined by a timeout threshold parameter and our goal is…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the…
This paper focuses on the tracking performance limitation for a class of networked control systems(NCSs) with two-channel constraints. In communication channels, we consider bandwidth, energy constraints and additive colored Gaussian…