相关论文: Packetized Predictive Control for Rate-Limited Net…
We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we…
We study feedback control over erasure channels with packet-dropouts. To achieve robustness with respect to packet-dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost…
We study packetized predictive control, known to be robust against packet dropouts in networked systems. To obtain sparse packets for rate-limited networks, we design control packets via an L0 optimization, which can be effectively solved…
This paper investigates closed-loop stability of a linear discrete-time plant subject to bounded disturbances when controlled according to packetized predictive control (PPC) policies. In the considered feedback loop, the controller is…
We study the design of scheduling logic and control logic for networked control systems (NCSs) where plants communicate with their remotely located controllers over a shared band-limited communication network. Due to a limited capacity of…
This paper introduces a packet-based dual-rate control strategy to face time-varying network-induced delays, packet dropouts and packet disorder in a Networked Control System. Slow-rate sensing enables to achieve energy saving by reducing…
A stochastic Model Predictive Control strategy for control systems with communication networks between the sensor node and the controller and between the controller and the actuator node is proposed. Data packets are subject to random…
In this presentation, we introduce sparsity methods for networked control systems and show the effectiveness of sparse control. In networked control, efficient data transmission is important since transmission delay and error can critically…
In networked control systems, communication resource constraints often necessitate the use of \emph{sparse} control input vectors. A prototypical problem is how to ensure controllability of a linear dynamical system when only a limited…
This article presents a novel class of control policies for networked control of Lyapunov-stable linear systems with bounded inputs. The control channel is assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to be…
We investigate control of a non-linear process when communication and processing capabilities are limited. The sensor communicates with a controller node through an erasure channel which introduces i.i.d. packet dropouts. Processor…
We propose novel iterative learning control algorithms to track a reference trajectory in resource-constrained control systems. In many applications, there are constraints on the number of control actions, delivered to the actuator from the…
We investigate the impact of packet dropouts due to non-idealities in communication networks on the performance of optimally derived controllers and observers in a minimax sense. These packet dropouts are modeled by discrete constrained…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
In this paper we provide a set of stability conditions for linear time-varying networked control systems with arbitrary topologies using a piecewise quadratic switching stabilization approach with multiple quadratic Lyapunov functions. We…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
Consider a control problem with a communication channel connecting the observer of a linear stochastic system to the controller. The goal of the controller is to minimize a quadratic cost function in the state variables and control signal,…
We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…
This paper deals with the design of scheduling logics for Networked Control Systems (NCSs) whose communication networks have limited capacity. We assume that only a subset of the plants can communicate with their controllers at any time…
Much of the current theory of networked control systems uses simple point-to-point communication models as an abstraction of the underlying network. As a result, the controller has very limited information on the network conditions and…