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To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded disturbances. Taking advantage of the structure of certain…
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…
The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
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…
As a promising architecture, Mobile Data Collector (MDC) enhanced Internet of Things (IoT) exhibits broad prospects in efficient data collection and data aggregation especially for sparse deployment scenarios. Combining the tools from…
Dynamic digital timing analysis is a less accurate but fast alternative to highly accurate but slow analog simulations of digital circuits. It relies on gate delay models, which allow the determination of input-to-output delays of a gate on…
Several heuristic procedures to estimate the rotor position of permanent magnet synchronous motors (PMSM) via signal injection have been reported in the literature. Using averaging theory, a framework to analyse such schemes has been…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
Time-sensitive wireless networks are an important enabling building block for many emerging industrial Internet of Things (IoT) applications. Quick prototyping and evaluation of time-sensitive wireless technologies are desirable for R&D…
In this paper, we consider the second-order consensus problem for networked mechanical systems subjected to nonuniform communication delays, and the mechanical systems are assumed to interact on a general directed topology. We propose an…
In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. The control solution is…
Soft robots are increasingly used in healthcare, especially for assistive care, due to their inherent safety and adaptability. Controlling soft robots is challenging due to their nonlinear dynamics and the presence of time delays,…
Distributed switched large-scale systems are composed by dynamically coupled subsystems, in which interactions among subsystems vary over time according to an exogenous input signal named switching signal. In this paper, we present a…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties due to the use of robust formulations that are amenable to distributed design and…
Current developments of high-speed magnetic levitation technology using the principle of the electromagnet suspension (EMS) focus on reaching vehicle speeds of more than 600 km/h. With increasing vehicle speeds, however, updated control…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
We consider online wireless network virtualization (WNV) in a multi-cell multiple-input multiple output (MIMO) system with delayed feedback of channel state information (CSI). Multiple service providers (SPs) simultaneously share the base…