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Predictable inter-vehicle communication reliability is a basis for the paradigm shift from the traditional singlevehicle-oriented safety and efficiency control to networked vehicle control. The lack of predictable interference control in…
Model predictive control is a well established control technology for trajectory tracking. Its use requires the availability of an accurate model of the plant, but obtaining such a model is often time consuming and costly. Data-Enabled…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
This paper studies secondary frequency control in transmission networks subject to communication delays at the cyber-physical interface and limited per-update computation at the control center. The regulation objective is formulated as a…
The extensive use of distributed vehicle platoon controllers has resulted in several benefits for transportation systems, such as increased traffic flow, fuel efficiency, and decreased pollution. The rising reliance on interconnected…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
Timing control while preserving determinism is often a key requirement for ensuring the safety and correctness of distributed cyber-physical systems (CPS). Discrete-event (DE) systems provide a suitable model of computation (MoC) for…
This paper presents a control design for the one-phase Stefan problem under actuator delay via a backstepping method. The Stefan problem represents a liquid-solid phase change phenomenon which describes the time evolution of a material's…
Collaboration between interconnected cyber-physical systems is becoming increasingly pervasive. Time-delays in communication channels between such systems are known to induce catastrophic failure modes, like high frequency oscillations in…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
City-scale traffic volume prediction plays a pivotal role in intelligent transportation systems, yet remains a challenge due to the inherent incompleteness and bias in observational data. Although deep learning-based methods have shown…
Although classical model predictive control with finite control sets (FCS-MPC) is quite a popular control method, particularly in the realm of power electronics systems, its direct data-driven predictive control (FCS-DPC) counterpart has…
In this article we study networks of coupled dynamical systems with time-delayed connections. If two such networks hold different delays on the connections it is in general possible that they exhibit different dynamical behavior as well. We…
This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this…
We propose a SCHMM LMPC framework, integrating Semi Continuous Hidden Markov Models with Lyapunov based Model Predictive Control, for distributed optimal control of multi agent systems under network imperfections. The SCHMM captures the…
Spatial multi-agency has been receiving growing attention from researchers exploring many of the aspects and modalities of this phenomenon. The aim is to develop the theoretical background needed for a multitude of applications involving…
Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…
Distributed control increases system scalability, flexibility, and redundancy. Foundational to such decentralisation is consensus formation, by which decision-making and coordination are achieved. However, decentralised multi-agent systems…
We propose a distributed control, in which many identical control agents are deployed for controlling a linear time-invariant plant that has multiple input-output channels. Each control agent can join or leave the control loop during the…
Recent years have seen several new directions in the design of sparse control of cyber-physical systems (CPSs) driven by the objective of reducing communication cost. One common assumption made in these designs is that the communication…