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  • 1.
    Ariba, Yassine
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Gouaisbaut, F.
    Rahme, S.
    Labit, Y.
    Traffic monitoring in transmission control protocol/active queue management networks through a time-delay observer2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 4, p. 506-517Article in journal (Refereed)
    Abstract [en]

    The use of the control theory tools for traffic control in communication networks, for example, the congestion control in internet protocol (IP) routers, has given rise to challenging issues in the time-delay system framework. In this study, the authors propose to design a linear time-delay observer for traffic monitoring in transmission control protocol/active queue management (TCP/AQM) networks. More precisely, the authors focus on a bottleneck topology consisting of long-lived TCP communications through a router. The developed mechanism, located at the router, aims at supervising the network via TCP flow estimations as well as detecting a class of anomalies. This issue is formulated as a stability problem for multiple delayed systems and appropriate robust control tools such as quadratic separation are adopted to address it. Then, some simulations via the network simulator NS-2 and an emulation experiment support the proposed methodology.

  • 2.
    Dimarogonas, Dimos V.
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Bounded control of network connectivity in multi-agent systems2010In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 4, no 8, p. 1330-1338Article in journal (Refereed)
    Abstract [en]

    A distributed control law that guarantees connectivity maintenance in a network of multiple mobile agents is presented. The control law, which lets the agents perform formation manoeuvres, respects sensor limitations by allowing each agent to only take into account agents within its sensing radius. In contrast to previous approaches to the problem, the proposed control law does not attain infinite values whenever an edge of the communication graph tends to be lost. This is achieved via the use of decentralised navigation functions, which are bounded potential fields. The navigation functions are defined to take into account the connectivity maintenance objective. The authors first treat the case of connectivity maintenance for a static communication graph and then extend the result to the case of dynamic graphs. The results are illustrated on a formation control problem.

  • 3. Dong, Yi
    et al.
    Hu, Xiaoming
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
    Distributed control of periodic formations for multiple under-actuated autonomous vehicles2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 1, p. 66-72Article in journal (Refereed)
    Abstract [en]

    One of the unique global behaviours of a group of under-actuated autonomous vehicles is known as cyclic pursue, which requires a group of vehicles to uniformly distribute on circles and at the same time, to orbit around a centre point, while circumnavigation further requires those vehicles to circumnavigate a predefined target of interest. Such behaviours can also be called periodic formations. This paper further studies the periodic formations for multi-agent systems composed of a group of under-actuated autonomous vehicles and a target of interest by proposing a distributed strategy to maintain any required distance between two vehicles and desired angle difference between vehicle's heading and the line of sight that takes directly towards its pursuing vehicle. The authors' distributed control law, dependent only on the information of its pursuing vehicle and itself, can not only enable a network of autonomous vehicles to circulate around a target of interest, but also achieve any physically feasible periodic formations, which include forming regular polygons as a special case.

  • 4.
    Doulgeri, Zoe
    et al.
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Karayiannidis, Yiannis
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under kinematic uncertainties2007In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 1, no 1, p. 273-280Article in journal (Refereed)
    Abstract [en]

    The performance of a modified parallel control scheme is examined under surfacekinematic uncertainties using nonlinear stability analysis. The controlled system is a roboticfinger with a soft hemispherical fingertip of significant radius in contact with an unknownsurface. Analysis of the control system performance shows that force converges to the desiredvalue, whereas position errors stay close to zero and in some cases can even vanish despite uncertainties. Simulation results support the theoretical findings and illustrate the performance of theproposed controller.

  • 5. Guinaldo, Maria
    et al.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Johansson, Karl H.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Sanchez, Jose
    Dormido, Sebastian
    Distributed event-based control strategies for interconnected linear systems2013In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 7, no 6, p. 877-886Article in journal (Refereed)
    Abstract [en]

    This study presents distributed event-based control strategies for a networked dynamical system consisting of N linear time-invariant interconnected subsystems. Each subsystem broadcasts its state over the network according to certain triggering rules that only depend on local information. The system can converge asymptotically to the equilibrium point under the proposed control design, and the existence of a lower bound for the broadcasting period is guaranteed. A novel model-based approach is derived to reduce the communication between the agents. Simulation results show the effectiveness of the proposed approaches and illustrate the theoretical results.

  • 6.
    Hashimoto, Kazumune
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control.
    Adachi, Shuichi
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Distributed aperiodic model predictive control for multi-agent systems2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 1, p. 10-20Article in journal (Refereed)
    Abstract [en]

    In this study, the authors propose an aperiodic formulation of model predictive control for distributed agents with additive bounded disturbances. In the proposed method, each agent solves an optimal control problem only when certain control performances cannot be guaranteed according to certain triggering rules. This could lead to the reduction of energy consumption and the alleviation of over usage of communication resources. The triggering rules are derived for both event-triggered and self-triggered formulation. The authors proposed method is also verified through a simulation example.

  • 7.
    Karayiannidis, Yiannis
    et al.
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Doulgeri, Zoe
    Department of Electrical and Computer Eng., Aristotle University of Thessaloniki.
    Blind force/position control on unknown planar surfaces2009In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 3, no 5, p. 595-603Article in journal (Refereed)
    Abstract [en]

     In robot contact tasks on planar surfaces with frictional contacts, kinematic uncertainties of thecontacted surface affect the control system performance and distort control targets. An adaptive controllerthat uses force and joint position/velocity measurements to simultaneously learn the surface orientation andachieve the desired goal is proposed. Simulation examples are used to illustrate the theoretical results andthe performance of the proposed controller in practical cases.

  • 8. Shirazinia, Amirpasha
    et al.
    Zaidi, Ali A.
    Bao, Lei
    Skoglund, Mikael
    KTH, School of Electrical Engineering (EES), Communication Theory.
    Dynamic source-channel coding for estimation and control over binary symmetric channels2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 9, p. 1444-1454Article in journal (Refereed)
    Abstract [en]

    The authors study causal dynamic source-channel codes for mean-square stabilisation of a linear plant with random initial state, over binary symmetric channels (BSCs). A binary expansion source coding scheme and two types of channel coding schemes are investigated: (i) dynamic repetition encoding under sequential majority logic decoding, and (ii) dynamic Fountain encoding under sequential BP decoding. The coding schemes are first analysed for an open-loop system, where the goal is to transmit a real-valued source over BSCs with the objective of minimising end-to-end mean-square error distortion. They derive upper- and lower bounds on the achievable distortion which is a function of time. Based on these distortion bounds, they show that the dynamic Fountain codes are able to stabilise (in mean-square sense) an unstable linear plant over BSCs.

  • 9.
    Wu, Junfeng
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. Hong Kong University of Science and Technology, China.
    Quevedo, Daniel E.
    Xiong, Junlin
    Ren, Zhu
    Cao, Xianghui
    Demirel, Burak
    Special Issue: Resource-efficient Control in Cyber-Physical Systems2017In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 11, no 11, p. 1663-1665Article in journal (Refereed)
  • 10.
    Zambelli, Martina
    et al.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Karayiannidis, Yiannis
    KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
    Dimarogonas, Dimos V.
    KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
    Posture regulation for unicycle-like robots with prescribed performance guarantees2015In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 9, no 2, p. 192-202Article in journal (Refereed)
    Abstract [en]

    This study aims to address the regulation problem for the unicycle model while guaranteeing prescribed performance. Different controllers based either on polar coordinates or time-varying laws are proposed. The main contribution is the combination of the standard control laws that allow to achieve posture regulation for the unicycle, with the prescribed performance control technique that imposes time-varying constraints to the system coordinates. To apply prescribed performance to the unicycle system which is subject to a non-holonomic constraint, the authors design a specific transformation function that is instrumental in the proof of asymptotic convergence with prescribed guaranties.

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