Related papers: Dynamic self-triggered control for nonlinear syste…
In this paper, we propose a new self-triggered formulation of Model Predictive Control for continuous-time linear networked control systems. Our control approach, which aims at reducing the number of transmitting control samples to the…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
Self-triggered control is an improvement on event-triggered control methods. Unlike the latter, self-triggered control does not require monitoring the behavior of the system constantly. Instead, self-triggered algorithms predict the events…
We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where…
This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external…
This paper investigates the design of self-triggered control for networked control systems (NCS), where the dynamics of the plant is unknown apriori. To deal with the nature of the self-triggered control, in which state measurements are…
Dynamic Traffic Assignment (DTA) provides an approach to determine the optimal path and/or departure time based on the transportation network characteristics and user behavior (e.g., selfish or social). In the literature, most of the…
This article is concerned with stability analysis and stabilization of randomly switched nonlinear systems. These systems may be regarded as piecewise deterministic stochastic systems: the discrete switches are triggered by a stochastic…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…
We present a contact-implicit planning approach that can generate contact-interaction trajectories for non-prehensile manipulation problems without tuning or a tailored initial guess and with high success rates. This is achieved by…
For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpectedly. Here, we present a stability theorem for nonlinear…
With the gradual advancement of a novel idea of the distributed control of the multiagent systems, an event-triggered control protocol has received significant research attention, especially in designing the controller for the nonlinear…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
The increasing integration of renewable energy sources into electrical grids necessitates a paradigm shift toward advanced control schemes that guarantee safe and stable operations with scalable properties. Accordingly, this paper…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
Systems with time-delayed chaotic dynamics are common in nature, from control theory to aeronautical propulsion. The overarching objective of this paper is to compute the stability properties of a chaotic dynamical system, which is…
This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for time-invariant linear systems with known or unknown system…