Related papers: Controller Tuning for Active Queue Management Usin…
Urban traffic congestion is a chronic problem faced by many cities in the US and worldwide. It results in inefficient infrastructure use as well as increased vehicle fuel consumption and emission levels. Congestion is intertwined with…
This memo proposes to transplant the core idea of Curvy RED, the softened delay target, into AQMs that are better designed to deal with dynamics, such as PIE or PI2, but that suffer from the weakness of a fixed delay target.
This paper proposes online sampling in the parameter space of a neural network for GPU-accelerated motion planning of autonomous vehicles. Neural networks are used as controller parametrization since they can handle nonlinear non-convex…
In this article, we introduce an adaptive online model update algorithm designed for predictive control applications in networked systems, particularly focusing on power distribution systems. Unlike traditional methods that depend on…
In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…
Perimeter control is an effective urban traffic management strategy that regulates inflow to congested urban regions using aggregate network dynamics. While existing approaches primarily optimize system-level efficiency, such as total…
This report gives the reasoning for the setting of the target queue delay parameter in the reference Linux implementation of PI$^2$ Active Queue Management (AQM)
The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…
As the Internet becomes increasingly heterogeneous, the issue of congestion avoidance and control becomes ever more important. And the queue length, end-to-end delays and link utilization is some of the important things in term of…
The problem of finding the set of all multi-model robust PID and three-term stabilizers for discrete-time systems is solved in this paper. The method uses the fact that decoupling of parameter space at singular frequencies is invariant…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly,…
Research on active control for the delay of laminar-turbulent transition in boundary layers has made a significant progress in the last two decades, but the employed strategies have been many and dispersed. Using one framework, we review…
Most of the current active queue management (AQM) designs have major issues including severe hardship of being tuned for highly fluctuated cellular access link bandwidths. Consequently, most of the cellular network providers either give up…
Active queue control aims to improve the overall communication network throughput while providing lower delay and small packet loss rate. The basic idea is to actively trigger packet dropping (or marking provided by explicit congestion…
Neural manifolds are an attractive theoretical framework for characterizing the complex behaviors of neural populations. However, many of the tools for identifying these low-dimensional subspaces are correlational and provide limited…
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…
In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith…
In this paper we present a queueing network approach to the problem of routing and rebalancing a fleet of self-driving vehicles providing on-demand mobility within a capacitated road network. We refer to such systems as autonomous…
PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…