Related papers: Distributed control under compromised measurements…
We investigate the problem of distributed sensors' failure detection in networks with a small number of defective sensors, whose measurements differ significantly from neighboring sensor measurements. Defective sensors are represented by…
With the emergence of cyber-attacks on control systems it has become clear that improving the security of control systems is an important task in today's society. We investigate how an attacker that has access to the measurements…
Consider a linear time-invariant (LTI) dynamical system monitored by a network of sensors, modeled as nodes of an underlying directed communication graph. We study the problem of collaboratively estimating the state of the system when…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
Time distributed optimization is an implementation strategy that can significantly reduce the computational burden of model predictive control by exploiting its robustness to incomplete optimization. When using this strategy, optimization…
Cooperative Adaptive Cruise Control (CACC) is an autonomous vehicle-following technology that allows groups of vehicles on the highway to form in tightly-coupled platoons. This is accomplished by exchanging inter-vehicle data through…
In this article, the observer-based coordinated tracking control problem for a class of nonlinear multi-agent systems(MASs) with intermittent communication and information constraints is studied under dynamic switching topology. First, a…
Autonomous vehicle platoons present near- and long-term opportunities to enhance operational efficiencies and save lives. The past 30 years have seen rapid development in the autonomous driving space, enabling new technologies that will…
This paper addresses the problem of resilient state estimation and attack reconstruction for bounded-error nonlinear discrete-time systems with nonlinear observations/ constraints, where both sensors and actuators can be compromised by…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
Reliable systems require effective monitoring techniques for fault identification. System-level diagnosis was originally proposed in the 1960s as a test-based approach to monitor and identify faulty components of a general system. Over the…
This paper studies a distributed state estimation problem for both continuous- and discrete-time linear systems. A simply structured distributed estimator (comprising interconnected local estimators) is first described for estimating the…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
The unknown sharp changes of vehicle acceleration rates, also called the unknown jerk dynamics, may significantly affect the driving performance of the leader vehicle in a platoon, resulting in more drastic car-following movements in…
Autonomous vehicles rely on LiDAR based perception to support safety critical control functions such as adaptive cruise control and automatic emergency braking. While previous research has shown that LiDAR perception can be manipulated…
This paper studies the resilient distributed recovery of large fields under measurement attacks, by a team of agents, where each measures a small subset of the components of a large spatially distributed field. An adversary corrupts some of…
Cooperative Adaptive Cruise Control (CACC) is one of the driving applications of vehicular ad-hoc networks (VANETs) and promises to bring more efficient and faster transportation through cooperative behavior between vehicles. In CACC,…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
In this paper, we present the concept of boosting the resiliency of optimization-based observers for cyber-physical systems (CPS) using auxiliary sources of information. Due to the tight coupling of physics, communication and computation, a…
For autonomous driving, an essential task is to detect surrounding objects accurately. To this end, most existing systems use optical devices, including cameras and light detection and ranging (LiDAR) sensors, to collect environment data in…