5 papers
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…
High-Performance Trajectory Tracking MPC for Quadcopters with Coupled Time-Varying Constraints and Stability Proofs
Maedeh Izadi, A. T. J. R. Cobbenhagen, R. L. Sommer +3
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking…
Online Learning of Interaction Dynamics with Dual Model Predictive Control for Multi-Agent Systems Using Gaussian Processes
T. M. J. T. Baltussen, A. Katriniok, E. Lefeber +2
The control of a single agent in complex and uncertain multi-agent environments requires careful consideration of the interactions between the agents. In this context, this paper p…
High-Performance Model Predictive Control for Quadcopters with Formal Stability Guarantees
Maedeh Izadi, A. T. J. R. Cobbenhagen, Ruben Sommer +3
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopt…