Related papers: Zero-dynamics Attack, Variations, and Countermeasu…
We consider a variant of pursuit-evasion games where a single defender is tasked to defend a static target from a sequence of periodically arriving intruders. The intruders' objective is to breach the boundary of a circular target without…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
Backdoor attacks compromise the integrity and reliability of machine learning models by embedding a hidden trigger during the training process, which can later be activated to cause unintended misbehavior. We propose a novel backdoor…
This paper aims at investigating a novel type of cyber attack that is injected to multi-agent systems (MAS) having an underlying directed graph. The cyber attack, which is designated as the controllability attack, is injected by the…
A treatment is given of the orbit dynamics for linear unstable motion that allows for the zeros in the beta function and makes no assumptions about the realness of the betatron and phase functions. The phase shift per turn is shown to be…
The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…
In a backdoor attack, an adversary inserts maliciously constructed backdoor examples into a training set to make the resulting model vulnerable to manipulation. Defending against such attacks typically involves viewing these inserted…
This paper proposes an actuator security index based on the definition of perfect undetectability. This index can help a control system operator to localize the most vulnerable actuators in the networked control system, which can then be…
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…
Minimum circle circumnavigation is proposed in this paper, which is of special value in target monitoring, capturing and/or attacking. In this paper, a safe minimum circle circumnavigation of multiple targets based on bearing measurements…
Stability guarantees are crucial when ensuring a fully autonomous robot does not take undesirable or potentially harmful actions. Unfortunately, global stability guarantees are hard to provide in dynamical systems learned from data,…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
One major objective of controlling classical chaotic dynamical systems is exploiting the system's extreme sensitivity to initial conditions in order to arrive at a predetermined target state. In a recent letter [Phys.~Rev.~Lett. 130, 020201…
In this paper, we consider a hierarchical control based DC microgrid (DCmG) equipped with unknown input observer (UIO) based detectors, where the potential false data injection (FDI) attacks and the distributed countermeasure are…
We present the first theoretical guarantees for zero constraint violation in Online Convex Optimization (OCO) across all rounds, addressing dynamic constraint changes. Unlike existing approaches in constrained OCO, which allow for…
Increased automation has created an impetus to integrate infrastructure with wide-spread connectivity in order to improve efficiency, sustainability, autonomy, and security. Nonetheless, this reliance on connectivity and the inevitability…
Future power networks will be characterized by safe and reliable functionality against physical malfunctions and cyber attacks. This paper proposes a unified framework and advanced monitoring procedures to detect and identify network…