38 citations · 143 across the 42 of their papers we have counts for
20 papers · 1 filter
Contouring Error Bounded Control for Biaxial Switched Linear Systems
Meng Yuan, Ye Wang, Chris Manzie +2
Biaxial motion control systems are used extensively in manufacturing and printing industries. To improve throughput and reduce machine cost, lightweight materials are being propose…
A Control Barrier Function Composition Approach for Multi-Agent Systems in Marine Applications
Yujia Yang, Chris Manzie, Ye Pu
The agents within a multi-agent system (MAS) operating in marine environments often need to utilize task payloads and avoid collisions in coordination, necessitating adherence to a…
Stochastic Co-design of Storage and Control for Water Distribution Systems
Ye Wang, Erik Weyer, Chris Manzie +2
Water distribution systems (WDSs) are typically designed with a conservative estimate of the ability of a control system to utilize the available infrastructure. The controller is…
Sub-Optimal Moving Horizon Estimation in Feedback Control of Linear Constrained Systems
Yujia Yang, Chris Manzie, Ye Pu
Moving horizon estimation (MHE) offers benefits relative to other estimation approaches by its ability to explicitly handle constraints, but suffers increased computation cost. To…
Asynchronous Event-Triggered Control for Non-Linear Systems
Daniel A. Williams, Airlie Chapman, Chris Manzie
With the increasing ubiquity of networked control systems, various strategies for sampling constituent subsystems' outputs have emerged. In contrast with periodic sampling, event-t…
Real-Time Distributed Model Predictive Control with Limited Communication Data Rates
Yujia Yang, Ye Wang, Chris Manzie +1
The application of distributed model predictive controllers (DMPC) for multi-agent systems (MASs) necessitates communication between agents, yet the consequence of communication da…
Explicit Time-Optimal Speed Profiles for Planar Paths with Monotone Curvature
Daniel Selvaratnam, Michael Cantoni, Chris Manzie
Minimum-time speed profiles are constructed for planar paths with smooth strictly-monotonic signed curvature, subject to constraints on velocity, normal acceleration and tangential…
Data-driven Predictive Tracking Control based on Koopman Operators
Ye Wang, Yujia Yang, Ye Pu +1
Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist,…
Individual and Team Trust Preferences for Robotic Swarm Behaviors
Elena M Vella, Daniel A Williams, Airlie Chapman +1
Trust between humans and multi-agent robotic swarms may be analyzed using human preferences. These preferences are expressed by an individual as a sequence of ordered comparisons b…
Temporal Logic Planning for Minimum-Time Positioning of Multiple Threat-Seduction Decoys
Tony A. Wood, Mitchell Khoo, Elad Michael +2
Reusable decoys offer a cost-effective alternative to the single-use hardware commonly applied to protect surface assets from threats. Such decoys portray fake assets to lure threa…
Real-time Distributed MPC for Multiple Underwater Vehicles with Limited Communication Data-rates
Yujia Yang, Ye Wang, Chris Manzie +1
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimiz…
Minimizing Pumping Energy Cost in Real-time Operations of Water Distribution Systems using Economic Model Predictive Control
Ye Wang, Kevin Too Yok, Wenyan Wu +3
Optimizing pump operations is a challenging task for real-time management of water distribution systems (WDSs). With suitable pump scheduling, pumping costs can be significantly re…
Optimization with Zeroth-Order Oracles in Formation
Elad Michael, Daniel Zelazo, Tony A. Wood +2
In this paper, we consider the optimisation of time varying functions by a network of agents with no gradient information. The proposed a novel method to estimate the gradient at e…
Active Learning for Linear Parameter-Varying System Identification
Robert Chin, Alejandro I. Maass, Nalika Ulapane +5
Active learning is proposed for selection of the next operating points in the design of experiments, for identifying linear parameter-varying systems. We extend existing approaches…
Robust distributed model predictive control of linear systems: analysis and synthesis
Ye Wang, Chris Manzie
To provide robustness of distributed model predictive control (DMPC), this work proposes a robust DMPC formulation for discrete-time linear systems subject to unknown-but-bounded d…
Interior Point Differential Dynamic Programming
Andrei Pavlov, Iman Shames, Chris Manzie
This paper introduces a novel Differential Dynamic Programming (DDP) algorithm for solving discrete-time finite-horizon optimal control problems with inequality constraints. Two va…
Tuning of multivariable model predictive controllersthrough expert bandit feedback
Alex. S. Ira, Chris Manzie, Iman Shames +4
For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In suc…
Closeness of Solutions for Singularly Perturbed Systems via Averaging
Mohammad Deghat, Saeed Ahmadizadeh, Dragan Nesic +1
This paper studies the behavior of singularly perturbed nonlinear differential equations with boundary-layer solutions that do not necessarily converge to an equilibrium. Using the…
Model Predictive Controller with Average Emissions Constraints for Diesel Airpath
Gokul S. Sankar, Rohan C. Shekhar, Chris Manzie +2
Diesel airpath controllers are required to deliver good tracking performance whilst satisfying operational constraints and physical limitations of the actuators. Due to explicit co…
Fast Calibration of a Robust Model Predictive Controller for Diesel Engine Airpath
Gokul S. Sankar, Rohan C. Shekhar, Chris Manzie +2
A significant challenge in the development of control systems for diesel airpath applications is to tune the controller parameters to achieve satisfactory output performance, espec…