Related papers: Typicality with Feedback
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
We study a unified information-theoretic framework for integrated sensing and communications (ISAC), applicable to both monostatic and bistatic sensing scenarios. Special attention is given to the case where the sensing receiver (Rx) is…
This work considers the problem of mitigating information leakage between communication and sensing in systems jointly performing both operations. Specifically, a discrete memoryless state-dependent broadcast channel model is studied in…
This paper develops a Closed-Loop Error Learning Control (CLELC) algorithm for feedback linearizable systems with experimental validation on a mobile robot. Traditional feedback and feedforward controllers are designed based on the nominal…
An adaptive randomized distributed space-time coding (DSTC) scheme is proposed for two-hop cooperative MIMO networks. Linear minimum mean square error (MMSE) receiver filters and randomized matrices subject to a power constraint are…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
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…
Distributed switched large-scale systems are composed by dynamically coupled subsystems, in which interactions among subsystems vary over time according to an exogenous input signal named switching signal. In this paper, we present a…
We propose an information-theoretic framework for analyzing control systems based on the close relationship of controllers to communication channels. A communication channel takes an input state and transforms it into an output state. A…
For the information transmission a binary symmetric channel is used. There is also another noisy binary symmetric channel (feedback channel), and the transmitter observes without delay all the outputs of the forward channel via that…
We derive three fundamental decompositions on relevant information quantities in feedback systems. The feedback systems considered in this paper are only restricted to be causal in time domain and the channels are allowed to be subject to…
In this study we consider rateless coding over discrete memoryless channels (DMC) with feedback. Unlike traditional fixed-rate codes, in rateless codes each codeword is infinitely long, and the decoding time depends on the confidence level…
We consider capacity of discrete-time channels with feedback for the general case where the feedback is a time-invariant deterministic function of the output samples. Under the assumption that the channel states take values in a finite…
A mechanism called switched feedback is introduced; under switched feedback, each channel output goes forward to the receiver(s) or back to the transmitter(s) but never both. By studying the capacity of the Multiple-Access Channel (MAC)…
Closed-loop positivity of feedback interconnections of positive monotone nonlinear systems is investigated. It is shown that an instantaneous gain condition on the open-loop systems which implies feedback well-posedness also guarantees…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
Current data-driven predictive control (DDPC) methods heavily rely on data collected in open-loop operation with elaborate design of inputs. However, due to safety or economic concerns, systems may have to be under feedback control, where…
Existing fixed-length feedback communication schemes are either specialized to particular channels (Schalkwijk--Kailath, Horstein), or apply to general channels but either have high coding complexity (block feedback schemes) or are…