相关论文: Bootstrapping Guarantees: Stability and Performanc…

Methods of quantum mechanics promise information-theoretic security for various protocols in cryptography. However, impossibility of some cryptographic applications such as standard bit commitment, oblivious transfer, multiparty secure…

We present an alternative "encapsulated" formulation of the Selective Frequency Damping method for finding unstable equilibria of dynamical systems, which is particularly useful when analysing the stability of fluid flows. The formulation…

Absolute stability of discrete-time teleoperation systems can be jeopardized by choosing inappropriate sampling time architecture. A modified structure is presented for the bilateral teleoperation system including continuous-time slave…

A controller -- a software module managing hardware behavior -- is a key component of a typical robot system. While control theory gives safety guarantees for standard controller designs, the practical implementation of controllers in…

Blockchain technologies are one possible avenue for increasing the resilience of the Smart Grid, by decentralizing the monitoring and control of system-level objectives such as voltage stability protection. They furthermore offer benefits…

We introduce a novel notion of invariance feedback entropy to quantify the state information that is required by any controller that enforces a given subset of the state space to be invariant. We establish a number of elementary properties,…

We consider the problem of provably securing a given control loop implementation in the presence of adversarial interventions on data exchange between plant and controller. Such interventions can be thwarted using continuously operating…

We propose an efficient encrypted policy synthesis to develop privacy-preserving model-based reinforcement learning. We first demonstrate that the relative-entropy-regularized reinforcement learning framework offers a computationally…

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…

Robust design has been widely recognized as a leading method in reducing variability and improving quality. Most of the engineering statistics literature mainly focuses on finding "point estimates" of the optimum operating conditions for…

Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. Although these methods are ubiquitous, their transient performance remains…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…

A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…

For enhancing the protection level of dynamic graph software watermarks and for the purpose of conducting the analysis which evaluates the effect of integrating two software protection techniques such as software watermarking and tamper…

The coupling of deep reinforcement learning to numerical flow control problems has recently received a considerable attention, leading to groundbreaking results and opening new perspectives for the domain. Due to the usually high…

The development of feedback controllers is undergoing a paradigm shift from $\textit{modelic}$ (model-driven) control to $\textit{datatic}$ (data-driven) control. Stability, as a fundamental property in control, is less well studied in…

Controller confidentiality under sensor attacks refers to whether the internal states of the controller can be estimated when the adversary knows the model of the plant and controller, while only having access to sensors, but not the…

Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…

Homomorphic encryption (HE) enables the secure offloading of computations to the cloud by providing computation on encrypted data (ciphertexts). HE is based on noisy encryption schemes in which noise accumulates as more computations are…