Related papers: Resource Optimization for Tail-Based Control in Wi…
The energy efficiency of future networks is becoming a significant and urgent issue, calling for greener network designs. At the same time, rapid development of wireless networks shows a trend of increasing complexity in network structure…
Optimal control is often used in robotics for planning a trajectory to achieve some desired behavior, as expressed by the cost function. Most works in optimal control focus on finding a single optimal trajectory, which is then typically…
This work develops a unified optimal control framework for a Quadrotor Biplane tailsitter UAV capable of operating seamlessly across hover, transition, and cruise flight regimes. Although the tailsitter configuration enables mechanically…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving by reducing…
In Networked Control Systems (NCS) impairments of the communication channel can be disruptive to stability and performance. In this paper, we consider the problem of scheduling the access to limited communication resources for a number of…
In this paper, we study a wireless networked control system (WNCS) with $N \ge 2$ sub-systems sharing a common wireless channel. Each sub-system consists of a plant and a controller and the control message must be delivered from the…
This paper treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L0 and l0 constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost…
Optimizing tail latency while efficiently managing computational resources is crucial for delivering high-performance, latency-sensitive services in edge computing. Emerging applications, such as augmented reality, require low-latency…
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…
Networked control system (NCS) refer to a set of control loops that are closed over a communication network. In this article, the joint operation of control and networking for NCS is investigated wherein the network serves the…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
This paper examines a co-design problem for industrial networked control systems (NCS) whereby physical systems are controlled over wireless fading channels. In particular, the considered wireless channels are also stochastically dependent…
We consider a Wireless Networked Control System (WNCS) where sensors provide observations to build a DT model of the underlying system dynamics. The focus is on control, scheduling, and resource allocation for sensory observation to ensure…
In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. The control solution is…
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily influenced by, first, the control systems deploying…
We introduce Tail-Safe, a deployability-oriented framework for derivatives hedging that unifies distributional, risk-sensitive reinforcement learning with a white-box control-barrier-function (CBF) quadratic-program (QP) safety layer…
We investigate a novel anytime control algorithm for wireless networked control with random dropouts. The controller computes sequences of tentative future control commands using time-varying (Markovian) computational resources. The…
It is well known that opportunistic scheduling algorithms are throughput optimal under dynamic channel and network conditions. However, these algorithms achieve a hypothetical rate region which does not take into account the overhead…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…