Zobrazeno 1 - 10
of 22
pro vyhledávání: '"Ong, Pio"'
We present a hierarchical architecture to improve the efficiency of event-triggered control (ETC) in reducing resource consumption. This paper considers event-triggered systems generally as an impulsive control system in which the objective is to min
Externí odkaz:
http://arxiv.org/abs/2409.09812
Cyber-physical systems can be subject to sensor attacks, e.g., sensor spoofing, leading to unsafe behaviors. This paper addresses this problem in the context of linear systems when an omniscient attacker can spoof several system sensors at will. In t
Externí odkaz:
http://arxiv.org/abs/2409.08413
Optimization-based safety filters, such as control barrier function (CBF) based quadratic programs (QPs), have demonstrated success in controlling autonomous systems to achieve complex goals. These CBF-QPs can be shown to be continuous, but are gener
Externí odkaz:
http://arxiv.org/abs/2309.12614
Autor:
Ong, Pio, Ames, Aaron D.
In balancing safety with the nominal control objectives, e.g., stabilization, it is desirable to reduce the time period when safety filters are in effect. Inspired by traditional spacecraft maneuvers, and with the ultimate goal of reducing the durati
Externí odkaz:
http://arxiv.org/abs/2304.08684
A common assumption on the deployment of safeguarding controllers on the digital platform is that high sampling frequency translates to a small violation of safety. This paper investigates and formalizes this assumption through the lens of Input-to-S
Externí odkaz:
http://arxiv.org/abs/2304.08685
In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by the event-t
Externí odkaz:
http://arxiv.org/abs/2204.03110
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for safety-critical co
Externí odkaz:
http://arxiv.org/abs/2204.00653
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function and const
Externí odkaz:
http://arxiv.org/abs/2112.05935
Autor:
Ong, Pio, Cortes, Jorge
This paper proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem of design
Externí odkaz:
http://arxiv.org/abs/2108.12702
The efficient utilization of available resources while simultaneously achieving control objectives is a primary motivation in the event-triggered control paradigm. In many modern control applications, one such objective is enforcing the safety of a s
Externí odkaz:
http://arxiv.org/abs/2003.06963