Related papers: Zero-dynamics Attack, Variations, and Countermeasu…

The zero-temperature dynamics of simple models such as Ising ferromagnets provides, as an alternative to the mean-field situation, interesting examples of dynamical systems with many attractors (absorbing configurations, blocked…

In this paper we study the problem of the existence of a least-action principle for invertible, second-order dynamical systems, discrete in time and space. We show that, when the configuration space is finite, a least-action principle does…

This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…

This draft addresses issues of detecting stealthy integrity cyber-attacks on automatic control systems in the unified control and detection framework. A general form of integrity cyber-attacks that cannot be detected using the…

In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…

In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still…

This paper studies the attack detection problem in a data-driven and model-free setting, for deterministic systems with linear and time-invariant dynamics. Differently from existing studies that leverage knowledge of the system dynamics to…

Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…

Recent works investigated attacks on sensors by influencing analog sensor components with acoustic, light, and electromagnetic signals. Such attacks can have extensive security, reliability, and safety implications since many types of the…

Adversarial dynamics are a critical facet within the cyber security domain, in which there exists a co-evolution between attackers and defenders in any given threat scenario. While defenders leverage capabilities to minimize the potential…

We consider generalized zero-temperature Glauber dynamics under partially synchronous updating mode for a one dimensional system. Using Monte Carlo simulations, we calculate the phase diagram and show that the system exhibits phase…

This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…

Manipulator dynamics, external forces and moments raise issues in stability and efficient control during aerial manipulation. Additionally, multirotor Micro Aerial Vehicles impose stringent limits on payload, actuation and system states. In…

In cyberspace, evolutionary strategies are commonly used by both attackers and defenders. For example, an attacker's strategy often changes over the course of time, as new vulnerabilities are discovered and/or mitigated. Similarly, a…

In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…

We apply an operator-theoretic viewpoint to a class of non-smooth dynamical systems that are exposed to event-triggered state resets. The considered benchmark problem is that of a pendulum which receives a downward kick under certain fixed…

The dynamics of free vibrations of a chain of atoms is investigated taking into account the retardation of interactions. It is shown that all oscillations of the circuit are damped. The dynamics of forced vibrations of this chain of atoms…

In this paper, we consider the optimal controller design problem against data injection attacks on actuators for an uncertain control system. We consider attacks that aim at maximizing the attack impact while remaining stealthy in the…