Related papers: Principles of Physiological Closed-Loop Controller…

Significant progress has been made in anomaly detection and run-time monitoring to improve the safety and security of cyber-physical systems (CPS). However, less attention has been paid to hazard mitigation. This paper proposes a combined…

Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…

A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…

Although large language models (LLMs) have recently become effective tools for language-conditioned control in embodied systems, instability, slow convergence, and hallucinated actions continue to limit their direct application to…

The paper documents the development of a novel time-domain model of injection-locked oscillator phase-noise response. The methodology follows a first-principle approach and applies to all circuit topologies, coupling configurations,…

This paper presents a risk-aware safe reinforcement learning (RL) control design for stochastic discrete-time linear systems. Rather than using a safety certifier to myopically intervene with the RL controller, a risk-informed safe…

Recent approaches for navigating among dynamic threat regions (i.e., weapon engagement zones) have focused on planning entire trajectories. Moreover, the allowance for penetration into these threat regions was based on heuristic…

This paper presents the development of a novel life-extending control scheme for critical helicopter components subjected to significant fatigue loading. The primary objective is to synthesize a more efficient and less conservative…

Mathematical optimization is one of the cornerstones of modern engineering research and practice. Yet, throughout all application domains, mathematical optimization is, for the most part, considered to be a numerical discipline.…

Medical Cyber-physical Systems (MCPS) are vulnerable to accidental or malicious faults that can target their controllers and cause safety hazards and harm to patients. This paper proposes a combined model and data-driven approach for…

This paper develops a dynamical framework for adaptive coordination in systems of interacting agents referred to here as Feedback-Coupled Memory Systems (FCMS). Instead of framing coordination as equilibrium optimization or agent-centric…

In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…

This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…

In this letter, we propose a control framework for human-in-the-loop systems, in which many human decision makers are involved in the feedback loop composed of a plant and a controller. The novelty of the framework is that the decision…

This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models and safety guarantees. As machine learning techniques…

Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…

In this article, we propose an optimization-based integrated behavior planning and motion control scheme, which is an interpretable and adaptable urban autonomous driving solution that complies with complex traffic rules while ensuring…

Advanced medical devices exploit the advantages of embedded software whose development is subject to compliance with stringent requirements of standardization and certification regimes due to the critical nature of such systems. This paper…

Power systems remain highly vulnerable to disturbances and cyber-attacks, underscoring the need for resilient and adaptive control strategies. In this work, we investigate a data-driven Federated Learning Control (FLC) framework for…

A significant and rising proportion of the global population suffer from non-communicable diseases, such as neurological disorders. Neurorehabilitation aims to restore function and independence of neurological patients through providing…