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In this study, we investigate the effectiveness of using the PID (Proportional - Integral - Derivative) control loop factors for modifying response thresholds in a decentralized, non-communicating, threshold-based swarm. Each agent in our…
The paper is an attempt to generalize a methodology, which is similar to the bounded-input bounded-output method currently widely used for the system stability studies. The presented earlier methodology allows decomposition of input space…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
This article presents a novel class of control policies for networked control of Lyapunov-stable linear systems with bounded inputs. The control channel is assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to be…
In many service systems, especially those in healthcare, customer waiting times can result in increased service requirements. Such service slowdowns can significantly impact system performance. Therefore, it is important to properly account…
In this paper, we propose novel state-based algorithms which dynamically control the random access network based on its current state such as channel states of wireless links and backlog states of the queues. After formulating the problem,…
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 presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall system stability. Unlike most existing…
We show that linear Active Disturbance-Rejection Control (ADRC) tuned using the "bandwidth method" is equivalent to PI(D) control with set-point weighting and a lowpass filter on the measurement signal. We also provide simple expressions…
We propose some domain-independent techniques for bringing well-founded partial-order planners closer to practicality. The first two techniques are aimed at improving search control while keeping overhead costs low. One is based on a simple…
We consider numerical approaches for deterministic, finite-dimensional optimal control problems whose dynamics depend on unknown or uncertain parameters. We seek to amortize the solution over a set of relevant parameters in an offline stage…
Stabilizing control synthesis is one of the central subjects in control theory and engineering, and it always has to deal with unavoidable uncertainties in practice. In this study, we propose an adaptive parameter tuning algorithm for…
This work considers artificial feed-forward neural networks as parametric approximators in optimal control of discrete-time systems. Two different approaches are introduced to take polytopic input constraints into account. The first…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
In online revenue systems, e.g. an advertising system, budget pacing plays a critical role in ensuring that the spend aligns with desired financial objectives. Pacing systems dynamically control the velocity of spending to balance auction…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
Decentralized PID controllers have been designed in this paper for simultaneous tracking of individual process variables in multivariable systems under step reference input. The controller design framework takes into account the…
Advanced regulatory control (ARC), also known as advanced PID architectures, is a simple and robust way of controlling processes with changing and possibly conflicting constraints, where it previously was believed - at least in academia -…
Unmanned Aerial Vehicles (UAVs) have gained widespread recognition for their diverse applications, ranging from surveillance to delivery services. Among the various control algorithms employed to stabilize and navigate UAVs, the…