Related papers: Switching Controller Synthesis for Delay Hybrid Sy…
Many controllers for legged robotic systems leverage open- or closed-loop control at discrete hybrid events to enhance stability. These controllers appear in several well studied phenomena such as the Raibert stepping controller, paddle…
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…
We consider the data-driven stabilization of discrete-time linear time-varying systems. The controller is defined as a linear state-feedback law whose gain is adapted to the plant changes through a data-based event-triggering rule. To do…
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model…
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…
Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller which guarantees stability, in spite of…
Stochastic hybrid systems have received significant attentions as a relevant modelling framework describing many systems, from engineering to the life sciences: they enable the study of numerous applications, including transportation…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
We extend a template-based approach for synthesizing switching controllers for semi-algebraic hybrid systems, in which all expressions are polynomials. This is achieved by combining a QE (quantifier elimination)-based method for generating…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper considers the problem of safety controller synthesis for systems equipped with sensor modalities that can provide preview information. We consider switched systems where switching mode is an external signal for which preview…
Systems with time delay play an important role in modeling of many physical and biological processes. In this paper we describe generic properties of systems with time delay, which are related to the appearance and stability of periodic…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
We consider the synthesis problem on timed automata with B\"uchi objectives, where delay choices made by a controller are subjected to small perturbations. Usually, the controller needs to avoid punctual guards, such as testing the equality…
This paper studies stochastic aperiodic stabilization of a networked control system (NCS) consisting of a continuous-time plant and a discrete-time controller. The plant and the controller are assumed to be connected by communication…
Continuous-time stochastic systems have attracted a lot of attention recently, due to their wide-spread use in finance for modelling price-dynamics. More recently models taking into accounts shocks have been developed by assuming that the…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…
In this paper, we provide for the first time an automated, correct-by-construction, controller synthesis scheme for a class of infinite dimensional stochastic systems, namely, retarded jump-diffusion systems. First, we construct finite…
Complex systems are naturally hybrid: their dynamic behavior is both continuous and discrete. For these systems, maintenance and repair are an increasing part of the total cost of final product. Efficient diagnosis and prognosis techniques…