Related papers: Predictor-Based Compensators for Networked Control…
We consider a type of optimal switching problems with non-uniform execution delays and ramping. Such problems frequently occur in the operation of economical and engineering systems. We first provide a solution to the problem by applying a…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
Implementation is a common problem with feedback laws with distributed delays. This paper focuses on a specific aspect of the implementation problem for predictor-based feedback laws: the problem of the approximation of the predictor…
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…
In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator-channel are compensated by sending sequences of…
This paper presents a stochastic model predictive controller (SMPC) for linear time-invariant systems in the presence of additive disturbances. The distribution of the disturbance is unknown and is assumed to have a bounded support. A…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…
When multiple model predictive controllers are implemented on a shared control area network (CAN), their performance may degrade due to the inhomogeneous timing and delays among messages. The priority based real-time scheduling of messages…
In this paper, we investigate the estimator-based output feedback control problem of multi-delay systems. This work is an extension of recently developed operator-value LMI framework for infinite-dimensional time-delay systems. Based on the…
Model Predictive Control (MPC) is a successful control methodology, which is applied to increasingly complex systems. However, real-time feasibility of MPC can be challenging for complex systems, certainly when an (extremely) large number…
This article is devoted to addressing the cloud control of connected vehicles, specifically focusing on analyzing the effect of bi-directional communication-induced delays. To mitigate the adverse effects of such delays, a novel…
In this experiment, a closed-loop discrete time system for speed control of a permanent magnet DC motor with discrete PI controller is implemented in embedded platform. The design & analysis of the system is based on the mathematical model…
We propose a stochastic model predictive control (MPC) framework for linear systems subject to joint-in-time chance constraints under unknown disturbance distributions. Unlike existing approaches that rely on parametric or Gaussian…
This paper addresses the design and analysis of a multivariable gradient-based stochastic extremum-seeking control method for multi-input systems with arbitrary input delays. The approach accommodates systems with distinct time delays…
This paper addresses the problem of designing an anti-windup like compensator for discrete-time linear control systems with quantized input. The proposed compensator provides a correction signal proportional to the quantization error that…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
This is an extended version of a technical note accepted for publication in IEEE Transactions on Automatic Control. The note proposes an Input to State practically Stable (ISpS) formulation of distributed nonlinear model predictive…