相关论文: Malleability-Resistant Encrypted Control System wi…

This paper proposes a Dynamic Wrench Disturbance Observer (DW-DOB) designed to achieve highly sensitive zero-wrench control in contact-rich manipulation. By embedding task-space inertia into the observer nominal model, DW-DOB cleanly…

Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer (DOB) and communication disturbance observer (CDOB)…

The security of networked control systems (NCS) is receiving increasing attention from both cyber-security and system-theoretic perspectives. The former focuses on classical IT security goals such as confidentiality, integrity, and…

The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where attack-mitigation approaches are not feasible, and the system…

Disturbance observer is an inner-loop output-feedback controller whose role is to reject external disturbances and to make the outer-loop baseline controller robust against plant's uncertainties. Therefore, the closed-loop system with the…

We have demonstrated broadband frequency-noise suppression in a laser stabilization system by augmenting a conventional proportional-integral-derivative (PID) controller with a digital disturbance observer (DOB) implemented on a…

The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories…

Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…

This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…

In this paper, we present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying…

Encrypted controllers using homomorphic encryption have proven to guarantee the privacy of measurement and control signals, as well as system and controller parameters, while regulating the system as intended. However, encrypting dynamic…

Denial of Service (DOS) attack is one of the most attack that attract the cyber criminals which aims to reduce the network performance from doing its intended functions. Moreover, DOS Attacks can cause a huge damage on the data…

In this paper, we consider the problem of safe control synthesis of general controlled nonlinear systems in the presence of bounded additive disturbances. Towards this aim, we first construct a governing augmented state space model…

This paper proposes a new stability analysis for the Reaction Torque Observer (RTOb) based robust force control systems in the discrete-time domain. The robust force controller is implemented by employing a Disturbance Observer (DOb) to…

This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…

This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemented by an Event-Triggered Mechanism (ETM) to limit…

Encrypted control is a promising method for the secure outsourcing of controller computation to a public cloud. However, a feasible method for security proofs of control has not yet been developed in the field of encrypted control systems.…

Attribute-based Encryption (ABE) is an information centric security solution that moves beyond traditional restrictions of point-to-point encryption by allowing for flexible, fine-grain policy-based and content-based access control that is…

This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…

This paper proposes an encrypted state observer that is capable of detecting sensor attacks without decryption. We first design a state observer that operates over a finite field of integers with the modular arithmetic. The observer…