7 papers
Improving CACC Robustness to Parametric Uncertainty via Plant Equivalent Controller Realizations
Mischa Huisman, Thomas Arnold, Erjen Lefeber +2
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feed…
Plant Equivalent Controller Realizations for Attack-Resilient Cyber-Physical Systems
Mischa Huisman, Erjen Lefeber, Nathan van de Wouw +1
As cyber-physical systems (CPSs) become more dependent on data and communication networks, their vulnerability to false data injection (FDI) attacks has raised significant concerns…
Hybrid Control as a Proxy for Detection and Mitigation of Sensor Attacks in Cooperative Driving
Mischa Huisman, Carlos Murguia, Erjen Lefeber +1
We propose a real-time hybrid controller scheme to detect and mitigate False-Data Injection (FDI) attacks on Cooperative Adaptive Cruise Control (CACC). Our method uses sensor redu…
Data-Driven Sensor Fault Diagnosis with Proven Guarantees using Incrementally Stable Recurrent Neural Networks
Farhad Ghanipoor, Carlos Murguia, Giancarlo Ferrari Trecate +1
Robust Recurrent Neural Networks (R-RENs) are a class of neural networks that have built-in system-theoretic robustness and incremental stability properties. In this manuscript, we…
Hybrid Model-Data Fault Diagnosis for Wafer Handler Robots: Tilt and Broken Belt Cases
Tim van Esch, Farhad Ghanipoor, Carlos Murguia +1
This work proposes a hybrid model- and data-based scheme for fault detection, isolation, and estimation (FDIE) for a class of wafer handler (WH) robots. The proposed hybrid scheme…
Immersion and Invariance-based Coding for Privacy-Preserving Federated Learning
Haleh Hayati, Carlos Murguia, Nathan van de Wouw
Federated learning (FL) has emerged as a method to preserve privacy in collaborative distributed learning. In FL, clients train AI models directly on their devices rather than shar…