相关论文: Nonlinear Model Predictive Control Framework For C…

This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…

In multi-agent reinforcement learning, multiple agents learn simultaneously while interacting with a common environment and each other. Since the agents adapt their policies during learning, not only the behavior of a single agent becomes…

In this paper, we present a tube-based framework for robust adaptive model predictive control (RAMPC) for nonlinear systems subject to parametric uncertainty and additive disturbances. Set-membership estimation is used to provide accurate…

The security in networked systems depends greatly on recognizing and identifying adversarial behaviors. Traditional detection methods focus on specific categories of attacks and have become inadequate for increasingly stealthy and deceptive…

This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…

This paper presents an input-constrained nonlinear guidance law to address the problem of intercepting a stationary target in contested environments with multiple defending agents. Contrary to prior approaches that rely on explicit…

Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…

This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

Reactive defense mechanisms, such as intrusion detection systems, have made significant efforts to secure a system or network for the last several decades. However, the nature of reactive security mechanisms has limitations because…

The expansion of Multimodal Large Language Models (MLLMs) and their integration into autonomous agentic workflows has introduced a non-stationary attack surface. Empirical observations indicate that adversaries employ progressive,…

A multiplayer reach-avoid game is a differential game between an attacking team with NA attackers and a defending team with ND defenders playing on a compact domain with obstacles. The attacking team aims to send M of the NA attackers to…

Advanced Persistent Threats (APTs) have created new security challenges for critical infrastructures due to their stealthy, dynamic, and adaptive natures. In this work, we aim to lay a game-theoretic foundation by establishing a multi-stage…

Nonlinear model predictive control has become a popular approach to deal with highly nonlinear and unsteady state systems, the performance of which can however deteriorate due to unaccounted uncertainties. Model predictive control is…

Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use of cables for…

The paper presents a distributed model predictive control (DMPC) scheme for continuous-time nonlinear systems based on the alternating direction method of multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the iterations…

Heavy computational load for solving nonconvex problems for large-scale systems or systems with real-time demands at each sample step has been recognized as one of the reasons for preventing a wider application of nonlinear model predictive…

Existing efforts in safeguarding LLMs are limited in actively exposing the vulnerabilities of the target LLM and readily adapting to newly emerging safety risks. To address this, we present Purple-teaming LLMs with Adversarial Defender…

The active target defense differential game is addressed in this paper. In this differential game an Attacker missile pursues a Target aircraft. The aircraft is however aided by a Defender missile launched by, say, the wingman, to intercept…