Related papers: Networked Control with Hybrid Automatic Repeat Req…
As we aim to control complex systems, use of a simulator in model-based reinforcement learning is becoming more common. However, it has been challenging to overcome the Reality Gap, which comes from nonlinear model bias and susceptibility…
Feedback control of quantum systems via continuous measurement involves complex nonlinear dynamics. Except in very special cases, even for a single qubit optimal feedback protocols are unknown. Not even do intuitive candidates exist for…
Inspired by several delay-bounded mission-critical applications, this paper investigates chase-combining-based hybrid automatic repeat request (CC-HARQ) protocols to achieve high reliability in delay-constrained applications. A salient…
Random linear network coding (RLNC) has been shown to efficiently improve the network performance in terms of reducing transmission delays and increasing the throughput in broadcast and multicast communications. However, it can result in…
This paper investigates the optimal co-design of logical and continuous controls for switched linear systems governed by controlled logical switching dynamics. Unlike traditional switched systems with arbitrary or state-dependent switching,…
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in…
We consider the joint design of control and scheduling under stochastic Denial-of-Service (DoS) attacks in the context of networked control systems. A sensor takes measurements of the system output and forwards its dynamic state estimates…
The increased penetration of volatile renewable energy into distribution networks necessities more efficient distributed voltage control. In this paper, we design distributed feedback control algorithms where each bus can inject \emph{both…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intractable owing to the infamous curse of dimensionality. We…
The delay guarantee is a challenge in wireless sensor networks (WSNs), where energy constraints must be considered. The coexistence of renewable energy and electricity grid is expected as a promising energy supply manner for WSNs to remain…
A key issue in the control of distributed discrete systems modeled as Markov decisions processes, is that often the state of the system is not directly observable at any single location in the system. The participants in the control scheme…
We consider the problem of computing optimal linear control policies for linear systems in finite-horizon. The states and the inputs are required to remain inside pre-specified safety sets at all times despite unknown disturbances. In this…
Distributed computing networks, tasked with both packet transmission and processing, require the joint optimization of communication and computation resources. We develop a dynamic control policy that determines both routes and processing…
This paper explores the decentralized control of linear deterministic systems in which different controllers operate based on distinct state information, and extends the findings to the output feedback scenario. Assuming the controllers…
Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven…
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
We analyze the closed-loop control performance of a networked control system that consists of $N$ independent linear feedback control loops, sharing a communication network with $M$ channels ($M<N$). A centralized scheduler, employing a…
We study the problem of generating control laws for systems with unknown dynamics. Our approach is to represent the controller and the value function with neural networks, and to train them using loss functions adapted from the…