Related papers: Potential gains of communication-compute-control c…

The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…

This paper is concerned with the detection, resilient and fault-tolerant control issues for cyber-physical systems. To this end, the impairment of system dynamics caused by the defined types of cyber-attacks and process faults is analyzed.…

When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…

This paper presents a mathematical approach for improving the performance of a control system by modifying the time delay at certain operating conditions. This approach converts a continuous time loop into a discrete time loop. The formula…

In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…

We study minimum-variance feedback-control design for a networked control system with retarded dynamics, where inter-agent communication is subject to latency. We prove that such a design can be solved efficiently for circular formations…

Robots and intelligent systems that sense or interact with the world are increasingly being used to automate a wide array of tasks. The ability of these systems to complete these tasks depends on a large range of technologies such as the…

Inexact methods for model predictive control (MPC), such as real-time iterative schemes or time-distributed optimization, alleviate the computational burden of exact MPC by providing suboptimal solutions. While the asymptotic stability of…

Wide Area Cyber-Physical Systems (WA-CPSs) are a class of control systems that integrate low-powered sensors, heterogeneous actuators and computer controllers into large infrastructure that span multi-kilometre distances. Current wireless…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This paper proposes a quantum framework for the design of communication topologies in consensus-based multi-agent systems. The communication graph is selected online by solving a mixed-integer quadratic program (MIQP) that minimizes a cost…

Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…

The use of quantum processing units (QPUs) promises speed-ups for solving computational problems, but the quantum devices currently available possess only a very limited number of qubits and suffer from considerable imperfections. One…

Feedback control protocols can stabilize and enhance the operation of quantum devices, however, unavoidable delays in the feedback loop adversely affect their performance. We introduce a quantum control methodology, combining open-loop…

Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…

The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…

This paper considers the analysis and design of resilient/robust decentralized control systems. Specifically, we aim to assess how the pairing of sensors and actuators lead to architectures that are resilient to attacks/hacks for industrial…

In closed-loop wireless control systems, the state-of-the-art approach prescribes that a controller receives by wireless communications the individual sensor measurements, and then sends the computed control signal to the actuators. We…