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We propose the first method that determines the exact worst-case execution time (WCET) for implicit linear model predictive control (MPC). Such WCET bounds are imperative when MPC is used in real time to control safety-critical systems. The…
Many wireless protocols wait a small and random amount of time which is called jitter before sending a packet to avoid high contention and packet collision. Jitter has been already proposed for many routing protocols including AODV and…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
We previously developed a polymorphic type system and a type checker for a multithreaded lock-based polymorphic typed assembly language (MIL) that ensures that well-typed programs do not encounter race conditions. This paper extends such…
Many problems in electrical engineering or fluid mechanics can be modeled by parabolic-elliptic interface problems, where the domain for the exterior elliptic problem might be unbounded. A possibility to solve this class of problems…
The PI control of first-order linear passive systems through a delayed communication channel is revisited in light of the relative stability concept called sigma-stability. Treating the delayed communication channel as a transport PDE, the…
The description of the entanglement dynamics of monitored noninteracting fermions, including the existence of measurement-induced phase transitions (MIPTs), is a challenging problem with conflicting results in the literature. The mapping of…
The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum…
Time-optimal control for high-order chain-of-integrator systems with full state constraints remains an open and challenging problem within the discipline of optimal control. The behavior of optimal control in high-order problems lacks…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
Large language models (LLMs) are widely used for task understanding and action planning in embodied intelligence (EI) systems, but their adoption substantially increases vulnerability to jailbreak attacks. While recent work explores…
We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…
We present a sampling-based control approach that can generate smooth actions for general nonlinear systems without external smoothing algorithms. Model Predictive Path Integral (MPPI) control has been utilized in numerous robotic…
We consider the decoherence of a pseudo-spin ensemble under collective random rotations, and study, both theoretically and experimentally, how a nondestructive measurement combined with real-time feedback correction can protect the state…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
It is a well known fact that finite time optimal controllers, such as MPC does not necessarily result in closed loop stable systems. Within the MPC community it is common practice to add a final state constraint and/or a final state penalty…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
This paper proposes a composite learning backstepping control (CLBC) strategy based on modular backstepping and high-order tuners to achieve closed-loop exponential stability without high-gain feedback and PE. A novel composite learning…
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which the closed-loop system converges to the equilibrium. The RoA…
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…