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We propose a robust model predictive control (MPC) method for discrete-time linear systems with polytopic model uncertainty and additive disturbances. Optimizing over linear time-varying (LTV) state feedback controllers has been…
Distributed stream processing systems are widely deployed to process real-time data generated by various devices, such as sensors and software systems. A key challenge in the system is overloading, which leads to an unstable system status…
It poses technical difficulty to achieve stable tracking even for single mismatched nonlinear strict-feedback systems when intermittent state feedback is utilized. The underlying problem becomes even more complicated if such systems are…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
Software-defined networking (SDN) is revolutionizing the networking industry, but current SDN programming platforms do not provide automated mechanisms for updating global configurations on the fly. Implementing updates by hand is…
Failure detection is a fundamental building block for ensuring fault tolerance in large scale distributed systems. There are lots of approaches and implementations in failure detectors. Providing flexible failure detection in off-the-shelf…
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…
The framework of linear parameter-varying (LPV) systems has shown to be a powerful tool for the design of controllers for complex nonlinear systems using linear tools. In this work, we derive novel methods that allow to synthesize LPV…
In this paper we investigate the exploitation of redundancy when routing actuation data to a discrete-time LTI system connected to the controller via a wireless network affected by packet drops. We assume that actuation packets can be…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
In this paper, we propose a distributed model predictive control (DMPC) scheme for linear time-invariant constrained systems which admit a separable structure. To exploit the merits of distributed computation algorithms, the stabilizing…
We consider the distributed control synthesis problem for systems with locks. The goal is to find local controllers so that the global system does not deadlock. With no restriction this problem is undecidable even for three processes each…
This paper presents a novel framework for collective control of Distributed Energy Resources (DERs) in active Distribution Networks (DNs). The proposed approach unifies the commonly employed local (i.e., decentralized) voltage and frequency…
We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
Asynchronous learning protocols have regained attention lately, especially in the Federated Learning (FL) setup, where slower clients can severely impede the learning process. Herein, we propose \texttt{AsyncDrop}, a novel asynchronous FL…
In the context of networked discrete-event systems (DESs), communication delays and losses exist between the plant and the supervisor for observation and between the supervisor and the actuator for control. In this paper, we first introduce…
New methods are developed for the stabilization of a linear system with general time-varying distributed delays existing at the system's states, inputs and outputs. In contrast to most existing literature where the function of time-varying…
Collaborative working is increasingly popular, but it presents challenges due to the need for high responsiveness and disconnected work support. To address these challenges the data is optimistically replicated at the edges of the network,…