Related papers: Action Governor for Discrete-Time Linear Systems w…
This paper proposes a method for enlarging the region of attraction of Linear Model Predictive Controllers (MPC) when tracking piecewise-constant references in the presence of pointwise-in-time constraints. It consists of an add-on unit,…
Reference and command governors are add-on schemes that augment nominal closed-loop systems with the capability to enforce state and control constraints. They do this by monitoring and modifying, when necessary, the reference command.…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
Decision Transformer (DT), which integrates reinforcement learning (RL) with the transformer model, introduces a novel approach to offline RL. Unlike classical algorithms that take maximizing cumulative discounted rewards as objective, DT…
The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the disturbance from output measurements and canceling it in the…
This paper introduces a novel attitude controller for spacecraft subject to actuator saturation and multiple exclusion cone constraints. The proposed solution relies on a two-layer approach where the first layer prestabilizes the system…
This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…
This paper proposes an active attack detection scheme for constrained cyber-physical systems. Despite passive approaches where the detection is based on the analysis of the input-output data, active approaches interact with the system by…
This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in…
In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints, usual of Reference Governors (RG). The proposed scheme,…
This paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed…
A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. Off-line calculations…
In this paper, we consider the problem of constraint management in Linear Periodic (LP) systems using Reference Governors (RG). First, we present the periodic-invariant maximal output admissible sets for LP systems. We extend the earlier…
Most existing necessary conditions for optimal control based on adjoining methods require both state and costate information, yet the unobservability of costates for a given feasible trajectory impedes the determination of optimality in…
This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…
We consider the control of discrete-time linear dynamical systems using sparse inputs where we limit the number of active actuators at every time step. We develop an algorithm for determining a sparse actuator schedule that ensures the…
This paper studies an infinite horizon optimal control problem for discrete-time linear system and quadratic criteria, both with random parameters which are independent and identically distributed with respect to time. In this general…
In this paper, we propose a new language, called AR ({\it Action Rules}), and describe how various propagators for finite-domain constraints can be implemented in it. An action rule specifies a pattern for agents, an action that the agents…
Multi-agent systems cooperation to achieve global goals is usually limited by sensing, actuation, and communication issues. At the local level, continuous measurement and actuation is only approximated by the use of digital mechanisms that…
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's…