Related papers: Embedded Model Control of Networked Control System…
This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed…
Envisioned applications for humanoid robots call for the design of balancing and walking controllers. While promising results have been recently achieved, robust and reliable controllers are still a challenge for the control community…
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…
Control problems are always challenging since they arise from the real-world systems where stochasticity and randomness are of ubiquitous presence. This naturally and urgently calls for developing efficient neural control policies for…
Recent control trends are increasingly relying on communication networks and wireless channels to close the loop for Internet-of-Things applications. Traditionally these approaches are model-based, i.e., assuming a network or channel model…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…
In networked control systems, communication is a shared and therefore scarce resource. Event-triggered control (ETC) can achieve high performance control with a significantly reduced amount of samples compared to classical, periodic control…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
Over the past decades, network systems have surged in significance, driven by merging technological advancements. These systems play pivotal roles in diverse applications ranging from autonomous driving to smart grids, yet they confront…
Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…
This paper is concerned with the problem of stabilizing continuous-time linear time-invariant systems subject to quantization and Denial-of-Service (DoS) attacks. In this context, two DoS-induced challenges emerge with the design of…
This paper explores the use of Control Affine Neural Nonlinear AutoRegressive eXogenous (CA-NNARX) models for nonlinear system identification and model-based control design. The idea behind this architecture is to match the known…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
In this letter, we study a Networked Control System (NCS) with multiplexed communication and Bernoulli packet drops. Multiplexed communication refers to the constraint that transmission of a control signal and an observation signal cannot…
The paper proposes an intermittent communication mechanism for the tracking consensus of high-order nonlinear multi-agent systems (MASs) surrounded by random disturbances. Each collaborating agent is described by a class of high-order…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
Accurate motion control in the face of disturbances within complex environments remains a major challenge in robotics. Classical model-based approaches often struggle with nonlinearities and unstructured disturbances, while RL-based methods…
In this paper we address the problem of designing scheduling logic for stabilizing Networked Control Systems (NCSs) with plants and controllers remotely-located over a limited capacity communication network subject to data losses. Our…
Increased connectivity and remote reprogrammability/reconfigurability features of embedded devices in current-day power systems (including interconnections between information technology -- IT -- and operational technology -- OT --…