Related papers: Online Delay Estimation and Adaptive Compensation …
Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite…
This letter proposes a novel distributed compressed estimation scheme for sparse signals and systems based on compressive sensing techniques. The proposed scheme consists of compression and decompression modules inspired by compressive…
This paper addresses the challenge of achieving stable adaptive teleoperation and improving the convergence rate in the presence of high communication time delays. We employ a passivity-based formalism to establish stability using wave…
Faster, cheaper, and more power efficient optimization solvers than those currently offered by general-purpose solutions are required for extending the use of model predictive control (MPC) to resource-constrained embedded platforms. We…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
Predictor feedback designs are critical for delay-compensating controllers in nonlinear systems. However, these designs are limited in practical applications as predictors cannot be directly implemented, but require numerical approximation…
We apply deep reinforcement learning (DRL) to design of a networked controller with network delays to complete a temporal control task that is described by a signal temporal logic (STL) formula. STL is useful to deal with a specification…
In this paper, we propose a fully distributed algorithm for joint clock skew and offset estimation in wireless sensor networks based on belief propagation. In the proposed algorithm, each node can estimate its clock skew and offset in a…
This paper investigates transient performance of inverter-based microgrids in terms of the resistive power losses incurred in regulating frequency under persistent stochastic disturbances. We model the inverters as second-order oscillators…
Clock synchronization is ubiquitous in wireless systems for communication, sensing and control. In this paper we design a scalable system in which an indefinite number of passively receiving wireless units can synchronize to a single master…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop $\mathcal{H}_\infty$ norm. Inspired by the solution to…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
This paper considers the problem of data-driven prediction of partially observed systems using a recurrent neural network. While neural network based dynamic predictors perform well with full-state training data, prediction with partial…
This study introduces the Perception Latency Mitigation Network (PLM-Net), a modular deep learning framework designed to mitigate perception latency in vision-based imitation-learning lane-keeping systems. Perception latency, defined as the…
Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical…
In this paper, a Packet-Coupled Oscillators (PkCOs) synchronisation protocol is proposed for time-sensitive Wireless Sensor Networks (WSNs) based on Pulse-Coupled Oscillators (PCO) in mathematical biology. The effects of delays on…
Distributed signal-processing algorithms in (wireless) sensor networks often aim to decentralize processing tasks to reduce communication cost and computational complexity or avoid reliance on a single device (i.e., fusion center) for…
Recent interest in networked control systems (NCS) has instigated research in various areas of both communication networks and control. The analysis of NCS has often been performed either from the network, or the control point of view and…
Future in-vehicular networks will be based on Ethernet. The IEEE Time-Sensitive Networking (TSN) is a promising candidate to satisfy real-time requirements in future car communication. Software-Defined Networking (SDN) extends the Ethernet…