Blog/News Collection

This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed solution is derived ...

This paper proposes a solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's ...

This paper proposes a set-theoretic receding horizon control scheme to address the trajectory tracking problem for input-constrained differential-drive robots. The proposed solution is derived starting from an inputoutput linearized description of the rob...

In this paper, we propose a novel approach for computing robust backward reachable sets from noisy data for unknown constrained linear systems subject to bounded disturbances. We develop an algorithm for obtaining zonotopic inner approximations that can b...

A new research lab is available for my research group to perform research related to autonomous vehicles (ground and aerial) moving in smart cities. The lab is equipped with 12 Vicon Vero camera systems, 4 Quanser Qdrone, 4 Quanser Qcar and 3 Quanser QBot...

Remotely controlled mobile robots are important examples of Cyber–Physical Systems (CPSs). Recently, these robots are being deployed in many safety critical applications. Therefore, ensuring their cyber-security is of paramount importance. Different contr...

In this paper, we design a novel PI-like output feedback tracking controller for linear systems subject to state and input constraints. The proposed solution exploits the internal model principle to design via robust positive invariance and the Extended F...

This paper addresses the problem of designing output feedback controllers for constrained linear systems subject to bounded process and measurement disturbances. The proposed solution extends the set-theoretic model predictive control framework to deal wi...

In this paper, we design a novel control architecture that prevents the existence of intelligent and undetectable cyber-attacks against networked control systems (e.g., replay and covert attacks). In particular, first, we propose to encode the sensor outp...

In this paper, the resilient control problem for constrained cyber-physical systems subject to false data injections is addressed. The core of the proposed approach consists in defining an ad-hoc versatile framework whose main feature consists in the abil...

This paper proposes a collision avoidance control strategy for constrained differential-drive robots moving in static but unknown obstacle scenarios. We assume that the robot is equipped with an on-board path planner providing a sequence of obstacle-free ...

This paper proposes a novel procedure to design a control invariant region for feedback-linearized car-like vehicles subject to linear and steering velocity constraints. To this end, first, it is formally proved that the state-dependent input constraints ...

This paper proposes a novel solution to the trajectory tracking control problem for input-constrained differentialdrive robots. In particular, we develop a robust set-based receding horizon tracking scheme capable of dealing with state-dependent input con...

In this paper, the safety and reference tracking control problems for Cyber-Physical Systems (CPSs) equipped with authenticated communication channels are addressed. In this class of CPSs, network attacks can break the feedback loop at two different point...

This paper deals with the reference tracking and collision avoidance control problems for constrained unmanned ground vehicles moving in shared planar environments. The proposed solution improves the strategy developed in [TAC 2021]  by minimizing the num...

In this paper, we consider input-constrained differential-drive robots whose setpoint (reference) signals are sent by a remote control station via a wireless, and possibly insecure, communication channel. The objective is to develop an anomaly detector ca...

In this paper, a novel control architecture for constrained networked control systems is developed with the aim to mitigate the effects of cyber-attacks occurring on the communication channels. By resorting to set-theoretic concepts, physical watermarking...

In this paper, we propose an encrypted set-theoretic model predictive control (ST-MPC) strategy for cloud-based networked control systems. In particular, we consider a scenario where the plant is subject to state and input constraints, and a curious but h...

Cloud computing solutions enable Cyber-Physical Systems (CPSs) to utilize significant computational resources and implement sophisticated control algorithms even if limited computation capabilities are locally available for these systems. However, such a ...

Encrypted control systems were introduced to enhance the security of cyber-physical systems which outsource their computation of the control actions to a third-party platform. To protect the con dentiality of the transmitted data (i.e., sensor measurement...

In the last decades, several cyber-threats against Cyber-Physical Systems (CPSs) have been reported. Of particular interest are the classes of network attacks capable of affecting the control systems’ performance while remaining undetectable. In this pape...

Traditional cryptographic approaches may not always be suitable for cyber-physical systems (CPSs). In this correspondence, we present a control theoretic approach allowing a networked controller and a smart actuator of a stochastic CPS to agree on a commo...

I am the recipient of the 24th Annual Gina Cody School Award for Excellence in Teaching by a Junior Faculty Member. 

A covert channel is a communication channel that is not intended to exist, and that can be used to transfer information in a manner that violates the system security policy. Attackers can abuse such channel to exfiltrate sensitive information from cyber-p...

In this paper, we face the reference tracking control problem for a system of heterogeneous Multi Unmanned Vehicles (MUVs) moving in a 2-D planar environment. We consider a scenario where each vehicle follows a trajectory imposed by a local planner and wh...

In this paper, the intelligent traffic management within a smart city environment is addressed by developing an ad-hoc model predictive control strategy based on an event-driven formulation. To this end, a constrained hybrid system description is consider...

In this paper, we deal with the reference tracking control problem for Electric Unmanned Vehicles (EUV) equipped with batteries of limited energy capacity. We design a novel control architecture, equipped with a battery manager module, which is capable of...

In this paper, a reference tracking problem for wheeled differential-drive robots subject to obstacle avoidance requirements is considered. By resorting to feedbacklinearization techniques, the differential-drive nonlinear dynamics is first recast as two ...

Recently, cloud control systems have gained increasing attention from the research community as a solution to implement networked cyber-physical systems (CPSs). Such an architecture can reduce deployment and maintenance costs albeit at the expense of addi...

In this paper, a robust model predictive control strategy is developed for networked cyber-physical systems under false data injections. The main feature of the proposed scheme relies on the capability to mitigate undesired system behaviors due to externa...

In this article, we propose a networked control architecture to ensure the plant's safety in the presence of cyber-attacks on the communication channels. In particular, we consider systems subject to both state and input constraints that must be preserved...

In recent years, different solutions have been proposed to detect advanced stealthy cyber-attacks against networked control systems. In this article, we propose a blended detection scheme that properly leverages and combines two existing detection ideas, ...

In this article, we face the problem of detecting setpoint attacks in networked control systems. We consider a setup where the reference signal (also known as setpoint) is generated by a control center remotely located with respect to a standard feedback ...

In this letter, using a control-theoretic approach, we present a covert channel technique, enabling a compromised networked controller to leak information to an eavesdropper who has access to the measurement channel. We demonstrate that this can be achiev...

In this paper, we propose a distributed model predictive control strategy for a team of vehicles moving in an unknown obstacle scenario. In particular, we combine receding horizon control arguments with leader-follower formations in order to design a flex...