相关论文: Advanced PID architectures for tracking changing a…

Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…

Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…

We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…

Classical Proportional-Integral-Derivative (PID) control has been widely successful across various industrial systems such as chemical processes, robotics, and power systems. However, as these systems evolved, the increase in the nonlinear…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

The rapid adoption of micromobility solutions, particularly two-wheeled vehicles like e-scooters and e-bikes, has created an urgent need for reliable autonomous riding (AR) technologies. While autonomous driving (AD) systems have matured…

In this paper, we study a problem of controlling cooling facilities and computational equipments for energy-efficient operations of data centers. Although a plethora of approaches have been proposed in previous literatures, there is a lack…

This paper describes a hierarchical control scheme for interconnected systems. The higher layer of the control structure is designed with robust Model Predictive Control (MPC) based on a reduced order dynamic model of the overall system and…

The key innovation of our analytical method, CaRT, lies in establishing a new hierarchical, distributed architecture to guarantee the safety and robustness of a given learning-based motion planning policy. First, in a nominal setting, the…

Grids enable the aggregation, virtualization and sharing of massive heterogeneous and geographically dispersed resources, using files, applications and storage devices, to solve computation and data intensive problems, across institutions…

This paper focuses on the need for a rigorous theory of layered control architectures (LCAs) for complex engineered and natural systems, such as power systems, communication networks, autonomous robotics, bacteria, and human sensorimotor…

Model Predictive Control (MPC) is widely used to achieve performance objectives, while enforcing operational and safety constraints. Despite its high performance, MPC often demands significant computational resources, making it challenging…

Industrial embedded systems are typically used to execute simple control algorithms due to their low computational resources. Despite these limitations, the implementation of advanced control techniques such as Model Predictive Control…

We consider the problem of robust and adaptive model predictive control (MPC) of a linear system, with unknown parameters that are learned along the way (adaptive), in a critical setting where failures must be prevented (robust). This…

In this paper, modification of the classical PID controller and development of open-loop control mechanisms to improve stability and robustness of a differential wheeled robot are discussed. To deploy the algorithm, a test platform has been…

Present incremental learning methods are limited in the ability to achieve reliable credit assignment over a large number time steps (or events). However, this situation is typical for cases where the dynamical system to be controlled…

We propose a monitoring mechanism for recording the evolution of systems after certain computations, maintaining the history in a tree-like structure. Technically, we develop the monitoring mechanism in a variant of ADR (after Architectural…

Grid-interactive building control is a challenging and important problem for reducing carbon emissions, increasing energy efficiency, and supporting the electric power grid. Currently researchers and practitioners are confronted with a…

Closed-loop control of an amplifier flow is experimentally investigated. A feed-forward algorithm is implemented to control the flow downstream a backward-facing step. Upstream and downstream data are extracted from real-time velocity…