Related papers: Designing Resilient Linear Driftless Systems
We investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that…
Modern LLM based agents are no longer passive text generators. They read repositories, call tools, browse the web, execute code, maintain memory, communicate with other agents, and act through long horizon workflows. This shift moves the…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…
We introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancellation. These conditions take the compact form of data-dependent…
Large language model-based multi-agent systems have shown great abilities across various tasks due to the collaboration of expert agents, each focusing on a specific domain. However, the impact of clumsy or even malicious agents--those who…
The control systems are an essential part of every engineering system in any industrial application. The basic purpose of controls is to manage the internal operations of the system and detect any unwanted or uncertain situation. Failure in…
This paper deals with a nonlinear adaptive autopilot design for agile missile systems. In advance of the autopilot design, an investigation of the agile turn maneuver, based on the trajectory optimization, is performed to determine state…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
The present article introduces a reference framework for discussing resilience of computational systems. Rather than a property that may or may not be exhibited by a system, resilience is interpreted here as the emerging result of a dynamic…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
Consider the problem of interference mitigation in the identification of the dynamics of multidimensional control systems in the class of linear stationary models for single realizations of the observed signals. A concepts uncorrelated…
The output of physical systems is often accessible by measurements such as the 3D position of a robotic arm actuated by many actuators or the speckle patterns formed by shining the spot of a laser pointer on a wall. The selection of the…
Resilience broadly describes a quality of withstanding perturbations. Measures of system resilience have gathered increasing attention across applied disciplines, yet existing metrics often lack computational accessibility and…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
In this document, we develop a structured approach to the management of HPC resilience based on the concept of resilience-based design patterns. A design pattern is a general repeatable solution to a commonly occurring problem. We identify…
Autonomous vehicles (AVs) promise efficient, clean and cost-effective transportation systems, but their reliance on sensors, wireless communications, and decision-making systems makes them vulnerable to cyberattacks and physical threats.…
This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…
Linear Response theory aims to predict how added forcing alters the statistical properties of an unforced system. These kinds of questions have been studied predominantly for autonomous dynamical systems, yet many systems in the physical,…
This paper investigates the critical-time criteria as a security metric for controlled systems subject to sharp input anomalies (attack, fault), characterized by having high impact in a reduced amount of time (e.g. denial-of-service, attack…