Related papers: Online Delay Estimation and Adaptive Compensation …
This paper studies the adaptive optimal control problem for a class of linear time-delay systems described by delay differential equations (DDEs). A crucial strategy is to take advantage of recent developments in reinforcement learning and…
A modification to the ${\cal L}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of…
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, among which P, PI, and PID regulators are quite popular and often associated to a Smith predictor. Here, to better…
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…
The recent advancements in cloud services, Internet of Things (IoT) and Cellular networks have made cloud computing an attractive option for intelligent traffic signal control (ITSC). Such a method significantly reduces the cost of cables,…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
The communication control delay between the inverters and the power plant controller can be caused by several factors related to the communication link between them. Under undesirable conditions, high delay values can produce oscillations…
Recent interest in networked control systems (NCS) has instigated research in both communication networks and control. Analysis of NCSs has usually been performed from either the network or the control point of view, but not many papers…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
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…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
In this article, we present a new control theoretic distributed time synchronization algorithm, named PISync, in order to synchronize sensor nodes in Wireless Sensor Networks (WSNs). PISync algorithm is based on a Proportional-Integral (PI)…
Steer-by-Wire (SBW) systems are being adapted widely in semi-autonomous and fully autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties, external…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
The paper presents a Stateflow based network test-bed to validate real-time optimal control algorithms. Genetic Algorithm (GA) based time domain performance index minimization is attempted for tuning of PI controller to handle a balanced…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
We consider the problem of scheduling transmissions over low-latency wireless communication links to control various control systems. Low-latency requirements are critical in developing wireless technology for industrial control and Tactile…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
This paper proposes a novel online data-driven adaptive control for unknown linear time-varying systems. Initialized with an empirical feedback gain, the algorithm periodically updates this gain based on the data collected over a short time…
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical…