相关论文: Stability-Aware Joint Communication and Control fo…
The modeling of nonlinear dynamics based on Koopman operator theory, which is originally applicable only to autonomous systems with no control, is extended to non-autonomous control system without approximation to input matrix B. Prevailing…
A novel near-field integrated sensing and communications framework for secure unmanned aerial vehicle (UAV) networks with high time efficiency is proposed. A ground base station (GBS) with large aperture size communicates with one…
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…
The distributed coordination problem of multi-agent systems is addressed in this paper under the assumption of intermittent communication between agents in the presence of time-varying communication delays. Specifically, we consider the…
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
The Koopman operator framework provides a perspective that non-linear dynamics can be described through the lens of linear operators acting on function spaces. As the framework naturally yields linear embedding models, there have been…
It is well known that opportunistic scheduling algorithms are throughput optimal under dynamic channel and network conditions. However, these algorithms achieve a hypothetical rate region which does not take into account the overhead…
Technological advances have made wireless sensors cheap and reliable enough to be brought into industrial use. A major challenge arises from the fact that wireless channels introduce random packet dropouts. Power control and coding are key…
Networked control systems (NCSs) are feedback control loops that are closed over a communication network. Emerging applications, such as telerobotics, drones and autonomous driving are the most prominent examples of such systems. Regular…
We consider optimal signalling and control of discrete-time nonlinear partially observable stochastic systems in state space form. In the first part of the paper, we characterize the operational {\it control-coding capacity}, $C_{FB}$ in…
This letter introduces a machine-learning approach to learning the semantic dynamics of correlated systems with different control rules and dynamics. By leveraging the Koopman operator in an autoencoder (AE) framework, the system's state…
We propose the application of Koopman operator theory for the design of stabilizing feedback controller for a nonlinear control system. The proposed approach is data-driven and relies on the use of time-series data generated from the…
Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical systems remains an open challenge. We argue that a promising…
Unmanned aerial vehicles (UAVs) are increasingly deployed in mission-critical applications such as target tracking, where they must simultaneously sense dynamic environments, ensure reliable communication, and achieve precise control. A key…
The emergence of large-scale wireless networks with partially-observable and time-varying dynamics has imposed new challenges on the design of optimal control policies. This paper studies efficient scheduling algorithms for wireless…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
The wireless communication technologies have fundamentally revolutionized industrial operations. The operation of the automated equipment is conducted in a closed-loop manner, where the status of devices is collected and sent to the control…
This paper presents an examination of State Space Models (SSM) and Koopman-based deep learning methods for modelling the dynamics of both linear and non-linear stiff strings. Through experiments with datasets generated under different…
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for…