Related papers: Performance Analysis of Universal Robot Control Sy…
This paper investigates the use of a networked system ($e.g.$, swarm of robots, smart grid, sensor network) to monitor a time-varying phenomenon of interest in the presence of communication and computation latency. Recent advances in edge…
The stochastic nature of time delays and sampling intervals in Networked Control Systems poses significant challenges for controller synthesis and analysis, often leading to conservative designs and degraded performance. This work presents…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
This paper proposes a distributed model predictive control (DMPC) approach for an urban traffic network (UTN) system. The control objective is to minimize the traffic congestion and the total travel time spent (TTS) in each link. The…
Predicting performance-related behavior of the underlying network structure becomes more and more indispensable in terms of the aspired application outcome quality. However, the reliable forecast of QoS metrics like packet transfer delay in…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
This dissertation is a study on the design and analysis of novel, optimal routing and rate control algorithms in wireless, mobile communication networks. Congestion control and routing algorithms upto now have been designed and optimized…
The recent advancements in cloud services, Internet of Things (IoT) and Cellular networks have made cloud computing an attractive option for intelligent traffic signal control (ITSC). Such a method significantly reduces the cost of cables,…
Distributed averaging is among the most relevant cooperative control problems, with applications in sensor and robotic networks, distributed signal processing, data fusion, and load balancing. Consensus and gossip algorithms have been…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
Despite the significant advances in identifying the driver nodes and energy requiring in network control, a framework that incorporates more complicated dynamics remains challenging. Here, we consider the conformity behavior into network…
With the advent of technologies such as Edge computing, the horizons of remote computational applications have broadened multidimensionally. Autonomous Unmanned Aerial Vehicle (UAV) mission is a vital application to utilize remote…
The links between optimal control of dynamical systems and neural networks have proved beneficial both from a theoretical and from a practical point of view. Several researchers have exploited these links to investigate the stability of…
The distributed control systems are more and more used in many industrial applications. These systems are often referred as "Networked control systems". The goal of this paper is to show the network influence on feedback control systems.…
In this paper, we introduce a novel approach in controlling robot systems over the Internet. The Real-time Transport Protocol (RTP) is used as the communication protocol instead of traditionally using TCP and UDP. The theoretic analyses,…
In this paper, we study a wireless networked control system (WNCS) with $N \ge 2$ sub-systems sharing a common wireless channel. Each sub-system consists of a plant and a controller and the control message must be delivered from the…
We study feedback control of a dynamical process over a lossy channel equipped with a hybrid automatic repeat request protocol that connects a sensor to an actuator. The dynamical process is modeled by a Gauss-Markov process, and the lossy…
Networked Control Systems (NCS) are distributed systems where plants, sensors, actuators and controllers communicate over shared networks. Non-ideal behaviors of the communication network include variable sampling/transmission intervals and…
Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical…
We study cyber security issues in networked control of a linear dynamical system. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel that face malicious attacks as well as…