Related papers: Performance Analysis of Universal Robot Control Sy…
In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith…
This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves traditional barrier Lyapunov functions by introducing a smooth…
In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
A neural network system in an animal brain contains many modules and generates adaptive behavior by integrating the outputs from the modules. The mathematical modeling of such large systems to elucidate the mechanism of rapidly finding…
A complete self-control mechanism is proposed in the dynamics of neural networks through the introduction of a time-dependent threshold, determined in function of both the noise and the pattern activity in the network. Especially for…
Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown…
The timely delivery of resource-intensive and latency-sensitive services (e.g., industrial automation, augmented reality) over distributed computing networks (e.g., mobile edge computing) is drawing increasing attention. Motivated by the…
This paper introduces a novel control approach for network scheduling and routing that is predictive and reliable in its nature, yet builds upon a linear program, making it fast in execution. First, we describe the canonical system model…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
Several studies have considered control theory tools for traffic control in communication networks, as for example the congestion control issue in IP (Internet Protocol) routers. In this paper, we propose to design a linear observer for…
Numerous scheduling algorithms have been proposed to optimize various performance metrics like throughput, delay and utility in wireless networks. However, these algorithms often require instantaneous access to network state information,…
Connected and automated vehicles (CAVs) rely on wireless communication to exchange state information for distributed control, making communication delays a critical factor that can affect vehicle motion and degrade control performance,…
Low-altitude wireless networks (LAWNs) have been envisioned as flexible and transformative platforms for enabling delay-sensitive control applications in Internet of Things (IoT) systems. In this work, we investigate the real-time wireless…
This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
We propose a distributed algorithm for controlling traffic signals. Our algorithm is adapted from backpressure routing, which has been mainly applied to communication and power networks. We formally prove that our algorithm ensures global…
We study a networked control architecture for linear time-invariant plants in which an unreliable data-rate limited network is placed between the controller and the plant input. The distinguishing aspect of the situation at hand is that an…