Related papers: Safety Controller Synthesis for Stochastic Network…
This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
In this work, we study the problem of supervisory control of networked discrete event systems. We consider lossy communication channels with bounded network delays, for both the control channel and the observation channel. By a model…
Future mobile networks not only envision enhancing the traditional link quality and data rates of mobile broad band (MBB) links, but also development of new control channels to meet the requirements of delay sensitive use cases. In…
This paper aims at the safety-critical control synthesis of network systems such that the satisfaction of the safety constraints can be guaranteed. To handle the large state dimension of such systems, an assume-guarantee contract is used to…
In this paper, we present an approach for designing correct-by-design controllers for cyber-physical systems composed of multiple dynamically interconnected uncertain systems. We consider networked discrete-time uncertain nonlinear systems…
We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid…
We study the problem of co-designing control barrier functions and linear state feedback controllers for discrete-time linear systems affected by additive disturbances. For disturbances of bounded magnitude, we provide a semi-definite…
This paper develops a controller synthesis algorithm for distributed LQG control problems under output feedback. We consider a system consisting of three interconnected linear subsystems with a delayed information sharing structure. While…
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system comprised of linear subsystems interconnected in an…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
We consider a networked control system (NCS) consisting of two plants, a global plant and a local plant, and two controllers, a global controller and a local controller. The global (resp. local) plant follows discrete-time stochastically…
We address the problem of designing stabilizing control policies for nonlinear systems in discrete-time, while minimizing an arbitrary cost function. When the system is linear and the cost is convex, the System Level Synthesis (SLS)…
In the context of networked discrete-event systems (DESs), communication delays and losses exist between the plant and the supervisor for observation and between the supervisor and the actuator for control. In this paper, we first introduce…
Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…
This paper gives convex conditions for synthesis of a distributed control system for large-scale networked nonlinear dynamic systems. It is shown that the technique of control contraction metrics (CCMs) can be extended to this problem by…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
The control properties of discrete-time switched linear systems (SLS) with switching signals generated by logical dynamic systems are studied using the semi-tensor product (STP) approach. With the algebraic state space representation…
Grid supportive (GS) modes integrated within distributed energy resources (DERs) can improve the frequency response. However, synthesis of GS modes for guaranteed performance is challenging. Moreover, a tool is needed to handle…