Related papers: Development of Embedded Speed Control System for D…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
In the context of networked discrete-event systems (DESs), communication delays and losses exist between the plant and the supervisor for observation and between the supervisor and the actuator for control. In this paper, we first introduce…
Certified safe control is a growing challenge in robotics, especially when performance and safety objectives must be concurrently achieved. In this work, we extend the barrier state (BaS) concept, recently proposed for safe stabilization of…
The escalating demand for high-speed and high-precision machining in machine tool feed system has brought to the forefront the challenge of its design method. Currently, existing methodologies struggle to ascertain compliance with dynamic…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
A networked output feedback loop subject to packetized transmissions of the output signal is considered. Based on the small gain theorem, an easy-to-use stability criterion covering two important cases is presented. In the first case a…
This paper studies secondary frequency control in transmission networks subject to communication delays at the cyber-physical interface and limited per-update computation at the control center. The regulation objective is formulated as a…
We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…
This paper articulates design and performance analysis of digital controllers in discrete and continuous time domains for a single-joint robot arm manipulator. The investigated robot arm system is modeled as a single degree of freedom (DOF)…
We consider the problem of estimating timing of measurements and actuation in distributed sensor and control systems with central processing. The focus is on direct timing estimation for scenarios where clock synchronization is not feasible…
Stabilizing state feedback controller has been designed in this paper for a switched DC motor plant, controlled over communication network. The switched system formulation for the networked control system (NCS) with additional switching in…
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in…
We propose a robust data-driven model predictive control (MPC) scheme to control linear time-invariant (LTI) systems. The scheme uses an implicit model description based on behavioral systems theory and past measured trajectories. In…
Existing transport protocols, be it TCP, SCTP or DCCP, do not provide an efficient congestion control mechanism for heterogeneous wired-cum-wireless networks. Solutions involving implicit loss discrimination schemes have been proposed but…
In this article, we consider a nonlinear process with delayed dynamics to be controlled over a communication network in the presence of disturbances and study robustness of the resulting closed-loop system with respect to network-induced…
Distributed model predictive control (DMPC) has attracted extensive attention as it can explicitly handle system constraints and achieve optimal control in a decentralized manner. However, the deployment of DMPC strategies generally…
Machine learning (ML) tools such as encoder-decoder deep convolutional neural networks (CNN) are able to extract relationships between inputs and outputs of large complex systems directly from raw data. For time-varying systems the…
In this note, we present an effective solution to the stabilization of linear input delay systems subject to dissipative constraints while all the effect of input delay is compensated by a controller with novel structure. The method is…
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…