Related papers: Resilient Interval Observer-Based Control for Coop…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
It is envisioned that, in the future, most vehicles on our roadway will be controlled autonomously and will be connected via vehicle to everything (V2X) wireless communication networks. Developing a connected and automated vehicle (CAV)…
Autonomous driving has attracted significant attention from both academia and industries, which is expected to offer a safer and more efficient driving system. However, current autonomous driving systems are mostly based on a single…
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is…
Attackers demonstrated the use of remote access to the in-vehicle network of connected vehicles to launch cyber-attacks and remotely take control of these vehicles. Machine-learning-based Intrusion Detection Systems (IDSs) techniques have…
This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
This letter proposes a novel, fully distributed, transient-safe resilient secondary control strategies for AC microgrids, addressing unbounded false data injection (FDI) attacks on control input channels. Unlike existing methods that focus…
Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…
This letter presents a nonlinear disturbance observer-parameterized control barrier function (DOp-CBF) designed for a robust safety control system under external disturbances. This framework emphasizes that the safety bounds are relevant to…
This paper addresses the challenge of amplitude-unbounded false data injection (FDI) attacks targeting the sensor-to-controller (S-C) channel in cyber-physical systems (CPSs). We introduce a resilient tube-based model predictive control…
Complex autonomous control systems are subjected to sensor failures, cyber-attacks, sensor noise, communication channel failures, etc. that introduce errors in the measurements. The corrupted information, if used for making decisions, can…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve…
Increasing automation in vehicles enabled by increased connectivity to the outside world has exposed vulnerabilities in previously siloed automotive networks like controller area networks (CAN). Attributes of CAN such as broadcast-based…
Fault detection is vital in ensuring AC microgrids' reliable and resilient operation. Its importance lies in swiftly identifying and isolating faults, preventing cascading failures, and enabling rapid power restoration. This paper proposes…
With recent advances in autonomous driving, Voice Control Systems have become increasingly adopted as human-vehicle interaction methods. This technology enables drivers to use voice commands to control the vehicle and will be soon available…
The security of control systems under sensor attacks is investigated. Redundant observability is introduced, explaining existing security notions including the security index, attack detectability, and observability under attacks.…