Related papers: Coded Event-triggered Control for Nonlinear System…
This study addresses the intricate challenge of decentralized output-feedback control for stochastic non-triangular nonlinear interconnected systems with unknown time-varying sensor sensitivity in a dynamic event-triggered context. The…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…
In this paper, we propose a self-triggered formulation of Model Predictive Control for continuous-time nonlinear input-affine networked control systems. Our control method specifies not only when to execute control tasks but also provides a…
We propose a distributed event-triggered control law to solve the consensus problem for multi-agent systems with nonlinear output. Under the condition that the underlying digraph is strongly connected, we propose some sufficient conditions…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems (NCS). Recently, a dynamic STC strategy based on hybrid Lyapunov functions for nonlinear NCS has been proposed in…
Networked control systems enable real-time control and coordination of distributed systems, leveraging the low latency, high reliability, and massive connectivity offered by 5G and future 6G networks. Applications include autonomous…
Consider a network of multiple independent stochastic linear systems where, for each system, a scheduler collocated with the sensors arbitrates data transmissions to a corresponding remote controller through a shared contention-based…
We present an event-triggered boundary control scheme for hyperbolic systems. The trigger condition is based on predictions of the state on determinate sets, where the control input is only updated if the predictions deviate from the…
Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…
In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…
This study focuses on periodic event-triggered (PET) cooperative output regulation problem for a class of nonlinear multi-agent systems. The key feature of PET mechanism is that event-triggered conditions are required to be monitored only…
This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem…
This paper proposes an approach, Spectral Dynamics Embedding Control (SDEC), to optimal control for nonlinear stochastic systems. This method reveals an infinite-dimensional feature representation induced by the system's nonlinear…
In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we…
Recently, there have been efforts towards understanding the sampling behaviour of event-triggered control (ETC), for obtaining metrics on its sampling performance and predicting its sampling patterns. Finite-state abstractions, capturing…
Common event-triggered state estimation (ETSE) algorithms save communication in networked control systems by predicting agents' behavior, and transmitting updates only when the predictions deviate significantly. The effectiveness in…