相关论文: Koopman-Based Event-Triggered Control from Data
Consider a network of multiple independent stochastic linear systems where, for each system, a scheduler collocated with the sensors arbitrates data transmissions to a corresponding remote controller through a shared contention-based…
This article focuses on the problem of adaptive tracking control for a specific type of nonlinear system that is subject to full-state constraints via a hybrid event-triggered control (HETC) strategy. With the auxiliary system, we proposed…
An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach…
We propose a data-driven method for controlling the frequency and convergence rate of black-box nonlinear dynamical systems based on the Koopman operator theory. With the proposed method, a policy network is trained such that the…
We present a data-driven shared control algorithm that can be used to improve a human operator's control of complex dynamic machines and achieve tasks that would otherwise be challenging, or impossible, for the user on their own. Our method…
This study addresses the intricate challenge of decentralized output-feedback control for stochastic non-triangular nonlinear interconnected systems with unknown time-varying sensor sensitivity in a dynamic event-triggered context. The…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to…
An efficient way to control systems with unknown nonlinear dynamics is to find an appropriate embedding or representation for simplified approximation (e.g. linearization), which facilitates system identification and control synthesis.…
Event-triggered communication and control provide high control performance in networked control systems without overloading the communication network. However, most approaches require precise mathematical models of the system dynamics,…
We develop an event-triggered control strategy for a weighted-unbalanced directed homogeneous robot network to reach a dynamic consensus in this work. We present some guarantees for synchronizing a robot network when all robots have access…
With the advancement of sensing and communication in power networks, high-frequency real-time data from a power network can be used as a resource to develop better monitoring capabilities. In this work, a systematic approach based on…
This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are…
Event-triggered control (ETC) is a major recent development in cyber-physical systems due to its capability of reducing resource utilization in networked devices. However, while most of the ETC literature reports simulations indicating…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC scheme is able to guarantee different performance specifications (e.g.…
Recently, there have been efforts towards understanding the sampling behaviour of event-triggered control (ETC), for obtaining metrics on its sampling performance and predicting its sampling patterns. Finite-state abstractions, capturing…
In recent years, the success of the Koopman operator in dynamical systems analysis has also fueled the development of Koopman operator-based control frameworks. In order to preserve the relatively low data requirements for an approximation…
A framework for the event-triggered control synthesis under signal temporal logic (STL) tasks is proposed. In our previous work, a continuous-time feedback control law was designed, using the prescribed performance control technique, to…
This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The…