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Event-triggered control (ETC) is a major recent development in cyber-physical systems due to its capability of reducing resource utilization in networked devices. However, while most of the ETC literature reports simulations indicating…
We propose control and communication strategies for nonlinear networked control systems subject to state and input constraints. The objective is to steer the state of the system towards a prescribed target set in finite time…
In this paper, we expand recently introduced observer-based periodic event-triggered control (PETC) and self-triggered control (STC) schemes for reaction-diffusion PDEs to boundary control of $2\times2$ coupled hyperbolic PDEs in canonical…
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…
Self-triggered control (STC) is a resource efficient approach to determine sampling instants for Networked Control Systems. At each sampling instant, an STC mechanism determines not only the control inputs but also the next sampling…
Energy constraint long-range wireless sensor/ actuator based solutions are theoretically the perfect choice to support the next generation of city-scale cyber-physical systems. Traditional systems adopt periodic control which increases…
Self-triggered control (STC) is a well-established technique to reduce the amount of samples for sampled-data systems, and is hence particularly useful for Networked Control Systems. At each sampling instant, an STC mechanism determines not…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the…
We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
In this paper the problem of stabilizing large-scale systems by distributed controllers, where the controllers exchange information via a shared limited communication medium is addressed. Event-triggered sampling schemes are proposed, where…
We study event-triggered control for stabilization of unstable linear plants over rate-limited communication channels subject to unknown, bounded delay. On one hand, the timing of event triggering carries implicit information about the…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…
The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking…
Decentralized control systems are widely used in a number of situations and applications. In order for these systems to function properly and achieve their desired goals, information must be propagated between agents, which requires…
In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of…
Controllers are often designed based on a reduced or simplified model of the plant dynamics. In this context, we investigate whether it is possible to synthesize a stabilizing event-triggered feedback law for networked control systems (NCS)…
This work introduces a flexible and versatile method for the data-efficient yet conservative transmission of covariance matrices, where a matrix element is only transmitted if a so-called triggering condition is satisfied for the element.…