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We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we…
In this paper, we propose a novel framework for modeling and analysis of networked discrete-event systems (DES). We assume that the plant is controlled by a feedback supervisor whose control decisions are subject to communication delays and…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
The event-triggered control problem over lossy communication networks is addressed in this paper. Although packet dropouts have been considered in the implementation of event-triggered controllers, the assumption of protocols that employ…
In this paper, we present a model-based periodic event-triggered control mechanism for nonlinear continuous-time Networked Control Systems. A sampled-data prediction of the system behavior is used at the actuator to reduce the amount of…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the…
We study the scheduling polices for asymptotically optimal delay in queueing systems with switching overhead. Such systems consist of a single server that serves multiple queues, and some capacity is lost whenever the server switches to…
It is known that demand and supply power balancing is an essential method to operate power delivery system and prevent blackouts caused by power shortage. In this paper, we focus on the implementation of demand response strategy to save…
The paradigm of Cyber-Physical Systems of Systems (CPSoS) is becoming rather popular in the control systems research community because of its expressive power able to properly handle many engineered complex systems of interest.…
We present an event-triggered control strategy for stabilizing a scalar, continuous-time, time-invariant, linear system over a digital communication channel having bounded delay, and in the presence of bounded system disturbance. We propose…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
In this paper, we investigate the problem of dual-rate consensus under transmission delays, where the control updates happen at a faster rate than the measurements being received. We assume that the measurements are delayed by a fixed delay…
Networked Control Systems (NCSs) often suffer from random packet dropouts which deteriorate overall system's stability and performance. To handle the ill effects of random packet losses in feedback control systems, closed over communication…
In this paper, we propose a data-driven networked control architecture for unknown and constrained cyber-physical systems capable of detecting networked false-data-injection attacks and ensuring plant's safety. In particular, on the…
This paper studies the formation stabilization problem of asynchronous nonlinear multi-agent systems (MAS) subject to parametric uncertainties, external disturbances and bounded time-varying communication delays. A self-triggered min-max…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
We develop link rate control policies to minimize the queueing delay of packets in overloaded networks. We show that increasing link rates does not guarantee delay reduction during overload. We consider a fluid queueing model that…
This paper deals with the problem of allocating communication resources for Networked Control Systems (NCSs). We consider an NCS consisting of a set of discrete-time LTI plants whose stabilizing feedback loops are closed through a shared…