Related papers: Resource Optimization for Tail-Based Control in Wi…
There is a trend towards using wireless technologies in networked control systems. However, the adverse properties of the radio channels make it difficult to design and implement control systems in wireless environments. To attack the…
Remote state estimation, where sensors send their measurements of distributed dynamic plants to a remote estimator over shared wireless resources, is essential for mission-critical applications of Industry 4.0. Existing algorithms on…
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…
Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…
Decentralized intersection control techniques have received attention in the literature as tools that address scalability issues of network intersection control. Chief among these techniques are backpressure (BP) control algorithms, which…
In this paper we propose a problem-driven scenario generation approach to the single-period portfolio selection problem which use tail risk measures such as conditional value-at-risk. Tail risk measures are useful for quantifying potential…
Robustly compensating network constraints such as delays and packet dropouts in networked control systems is crucial for remotely controlling dynamical systems. This work proposes a novel prediction consistent method to cope with delays and…
Traditional linear control strategies have been extensively researched and utilized in many robotic and industrial applications and yet they do not respond to the total dynamics of the systems. To avoid tedious calculations for nonlinear…
Stable gait generation is a crucial problem for legged robot locomotion as this impacts other critical performance factors such as, e.g. mobility over an uneven terrain and power consumption. Gait generation stability results from the…
Next-generation networks aim to provide performance guarantees to real-time interactive services that require timely and cost-efficient packet delivery. In this context, the goal is to reliably deliver packets with strict deadlines imposed…
This paper presents a hybrid approach that integrates trajectory optimization (TO) and reinforcement learning (RL) for motion planning and control of free-flying multi-arm robots in on-orbit servicing scenarios. The proposed system…
In this paper, a novel generative adversarial imitation learning (GAIL)-powered policy learning approach is proposed for optimizing beamforming, spectrum allocation, and remote user equipment (RUE) association in NTNs. Traditional…
This paper presents a Lyapunov function based control strategy for networked control systems (NCS) affected by variable time delays and data loss. A special focus is put on the reduction of the computational complexity. A specific buffering…
This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…
This work develops a novel power control framework for energy-efficient power control in wireless networks. The proposed method is a new branch-and-bound procedure based on problem-specific bounds for energy-efficiency maximization that…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…
In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but…
This paper considers a LQR optimal control design problem for distributed control systems with multi-agents. To control large-scale distributed systems such as smart-grid and multi-agent robotic systems over wireless communication networks,…
In this two-part paper, we identify a broad class of decentralized output-feedback LQG systems for which the optimal control strategies have a simple intuitive estimation structure and can be computed efficiently. Roughly, we consider the…