arXiv subjects

Koen J. A. Scheres

Publications and source records attributed to Koen J. A. Scheres.

4 recordsLinked to original sources

arXiv2026

Emulation-based Neuromorphic Control for the Stabilization of LTI Systems

Neuromorphic engineering aims at designing computing and control systems inspired by the neurons and the brain. For the control community, neuromorphic control is an emerging topic that focuses on designing event-based spiking controllers in the form of spiking neural networks (SNNs). At present, systematic methods for designing and analyzing such controllers are lacking. Therefore in this paper we present a systematic approach for stabilizing linear time-invariant (LTI) systems using SNN-based controllers, in the form of a network of integrate-and-fire neurons, whose input is the measured output from the plant, and which generate spiking control signals. The new approach consists of a two-step emulation-based design procedure. In the first step, we establish conditions on the neuron parameters to ensure that the spiky signal generated by a pair of neurons emulates any continuous-time signal input to the neurons with arbitrary accuracy in terms of a special metric for spiky signals. In the second step, we propose a novel stability notion, called spiky-Input-to-State Stability (sISS) building on this metric, and prove that an asymptotically stable LTI system has this sISS property. By combining these steps, a certifiable practical stability property of the closed-loop system can be established. The approach is illustrated in a numerical case study.

eess.SY↗

arXiv2022

Robustifying Event-Triggered Control to Measurement Noise

While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of measurement noise. As measurement noise is omnipresent in practice and can have detrimental effects, for instance, by inducing Zeno behavior in the closed-loop system and with that the lack of a positive lower bound on the inter-event times, rendering the event-triggered control design practically useless, it is of great importance to address this gap in the literature. To do so, we present a general framework for set stabilization of (distributed) event-triggered control systems affected by additive measurement noise. It is shown that, under general conditions, Zeno-free static as well as dynamic triggering rules can be designed such that the closed-loop system satisfies an input-to-state practical set stability property. We ensure Zeno-freeness by proving the existence of a uniform strictly positive lower-bound on the minimum inter-event time. The general framework is applied to point stabilization and consensus problems as particular cases, where we show that, under similar assumptions as the original work, existing schemes can be redesigned to robustify them to measurement noise. Consequently, using this framework, noise-robust triggering conditions can be designed both from the ground up and by simple redesign of several important existing schemes. Simulation results are provided that illustrate the strengths of this novel approach.

eess.SY↗

arXiv2022

Distributed Periodic Event-triggered Control of Nonlinear Multi-Agent Systems

We present a general emulation-based framework to address the distributed control of multi-agent systems over packet-based networks. We consider the setup where information is only transmitted at (non-uniform) sampling times and where packets are received with unknown delays. We design local dynamic periodic event-triggering mechanisms to generate the transmissions. The triggering mechanisms can run on non-synchronized digital platforms, i.e., we ensure that the conditions must only be verified at asynchronous sampling times, which may differ for each platform. Different stability and performance characteristics can be considered as we follow a general dissipativity-based approach. Moreover, Zeno-free properties are guaranteed by design. The results are illustrated on a consensus problem.

eess.SY↗

arXiv2021

Event-Triggered State Estimation with Multiple Noisy Sensor Nodes

General nonlinear continuous-time systems are considered for which its state is estimated via a packet-based communication network. We assume that the system has multiple sensor nodes, affected by measurement noise, which can transmit at discrete (non-equidistant) points in time. Moreover, each node can transmit asynchronously. For this setup, we develop a state estimation framework, where the transmission instances of the individual sensor nodes can be generated in either time-triggered or event-triggered fashions. In the latter case, we guarantee the absence of Zeno behavior by construction. It is shown that, under the provided design conditions, an input-to-state stability property is obtained for the estimation error with respect to the measurement noise and process disturbances and that the state is thus reconstructed asymptotically in the absence of noise. A numerical case study shows the strengths of the developed framework.

eess.SY↗