相关论文: A Hybrid Controller for DOS-Resilient String-Stabl…

The security of Automated Vehicles (AVs) is an important emerging area of research in traffic safety. Methods have been published and evaluated in experimental vehicles to secure safe AV control in the presence of attacks, but human motion…

This paper studies the performance and resilience of a linear cyber-physical control system (CPCS) with attack detection and reactive attack mitigation in the context of power grids. It addresses the problem of deriving an optimal sequence…

Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…

A robust and resilient Medium Access Control (MAC) protocol is crucial for numerous machine-type devices to concurrently access the channel in a Machine-to-Machine (M2M) network. Simplex (reservation or contention based) MAC protocols are…

This paper is concerned with the problem of stabilizing continuous-time linear time-invariant systems subject to quantization and Denial-of-Service (DoS) attacks. In this context, two DoS-induced challenges emerge with the design of…

This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…

This work presents a rigorous analysis of the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and propose a mitigation approach for attacks on sensors and actuators. First, we show how an attack…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

Within the modeling framework of Markov games, we propose a series of algorithms for coordinated car-following using distributed model predictive control (DMPC). Instead of tracking prescribed feasible trajectories, driving policies are…

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…

We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…

The paper studies the problem of reaching agreement in a distributed message-passing system prone to crash failures. Crashes are generated by \constrained\ adversaries - a \wadapt\ adversary, who has to fix in advance the set of $f$…

This paper presents the Distributed Adaptive Multi-Radio Cross-Layer Routing (DAMCR) protocol, designed to enhance reliability, adaptability, and energy efficiency in smart grid and industrial Internet of Things (IoT) communication…

This paper presents a new counter-measure to mitigate denial-of-service cyber-attacks in linear time-invariant (LTI) systems. We first design a sparse linear quadratic regulator (LQR) optimal controller for a given LTI plant and evaluate…

Reinforcement learning (RL)-based adaptive cruise control systems (ACC) that learn and adapt to road, traffic and vehicle conditions are attractive for enhancing vehicle energy efficiency and traffic flow. However, the application of RL in…

Designing networked control systems that are reliable and resilient against adversarial threats, is essential for ensuring the security of cyber-physical systems. This paper addresses the communication-control co-design problem for…

Adaptive andcooperative adaptive cruise control (ACC and CACC) and next generation CACC (CACC+) systems usually employ a constant time headway policy (CTHP) for platooning of connected and autonomous vehicles (CAVs). In ACC, the ego vehicle…

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…