Dr. Alessandro Borri

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Academic Career Length

18Years (2009-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

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15 August 2011 in IEEE Transactions on Automatic Control

Journal Article

Integrated Design of Symbolic Controllers for Nonlinear Systems

Giordano Pola

Alessandro Borri

Maria Domenica Di Benedetto

Symbolic models of continuous and hybrid systems have been studied for a long time, because they provide a formal approach to solve control problems where software and hardware interact with the physical world. While being powerful, this approach often encounters some limitations in concrete applications, because of the large size of the symbolic models needed to be constructed. Inspired by on-the-fly techniques for verification and control of finite state machines, in this note we propose an algorithm that integrates the construction of the symbolic models with the design of the symbolic controllers. Computational complexity of the proposed algorithm is discussed and an illustrative example is included.

17 July 2017 in IEEE Control Systems

Journal Article

Luenberger-Like Observers for Nonlinear Time-Delay Systems with Application to the Artificial Pancreas: The Attainment of Good Performance

Alessandro Borri

Filippo Cacace

Andrea De Gaetano

Alfredo Germani

Costanzo Manes

Pierdomenico Pepe

The aim of this article is to show the good performance obtained by the state observer applied to a delay differential equations (DDE) model of the glucose-insulin system recently used in the artificial pancreas (AP) framework. Validation is carried out by real clinical measurements available from 20 healthy subjects who underwent an intravenous glucose tolerance test (IVGTT). The results show that the observer behavior is robust with respect to the initial conditions, which have been set according to a pair of very critical cases of under- and overestimation. Also, the robustness of the observer with respect to some model parameters, such as the delay in the pancreatic insulin production, is discussed.

7 May 2018 in IEEE Transactions on Automatic Control

Journal Article

Design of Symbolic Controllers for Networked Control Systems

Alessandro Borri

Giordano Pola

Maria Domenica Di Benedetto

Networked control systems (NCSs) are distributed systems where plants, sensors, actuators, and controllers communicate over shared networks. Nonideal behaviors of the communication network include variable sampling/transmission intervals and communication delays, packet losses, communication constraints, and quantization errors. NCSs have been the object of intensive study in the last few years. However, due to the inherent complexity of NCSs, the current literature focuses on a subset of these nonidealities and mostly considers stability and stabilizability problems. Recent technology advances need different and more complex control objectives to be considered. In this paper, we present first a general model of NCS, including most relevant nonidealities of the communication network; then, we propose a symbolic model approach to the control design with objectives expressed in terms of nondeterministic transition systems. The presented results are based on recent advances in symbolic control design of continuous and hybrid systems. An example in the context of robot motion planning with remote control is included, showing the effectiveness of the proposed approach.

24 February 2020 in IEEE Transactions on Automatic Control

Journal Article

On Practical Stability Preservation Under Fast Sampling and Accurate Quantization of Feedbacks for Nonlinear Time-Delay Systems

Mario Di Ferdinando

Pierdomenico Pepe

Alessandro Borri

In this paper we deal with the problem of stabilizing a nonlinear system with state delays by means of quantized sampled-data state feedback control laws. Quantization in the state measurements and in the input signal are simultaneously considered. Fully nonlinear (i.e., possibly non-affine in the control) time-delay systems are studied. Sufficient conditions are provided such that suitably fast sampling and accurate quantization of the state feedback at hand yield semi-global practical stability, with arbitrarily small final target ball of the origin. Nonlinear delay-free systems are addressed as a special case: it is shown that the above sufficient conditions, ensuring the semi-global practical stability, are satisfied if the continuous-time static state feedback controller is a global stabilizer. The theory of stabilization in the sample-and-hold sense is used. The theoretical results are validated through an example.

14 July 2020 in IEEE Transactions on Automatic Control

Journal Article

Event-Triggered Control of Nonlinear Systems With Time-Varying State Delays

Alessandro Borri

Pierdomenico Pepe

Nonlinear systems with time delays have been object of intense investigation in the last decades for their ability of capturing the behavior of many natural and engineering systems, including ecological, biomedical, industrial, robotic and networked systems. In this work, a method for the event-triggered stabilization in the sample-and-hold sense of nonlinear time-delay systems with time-varying state delays is presented. The approach exploits Control Lyapunov-Razumikhin Functions and a spline-based approximation of the functional state feedback, resulting in a finite-memory controller which avoids (by construction) continuous-state monitoring while ensuring also that the minimal inter-event time is strictly positive. Examples of application of the illustrated technique highlight the potential of the approach taken.

1 January 2010 in International Journal of Vehicle Autonomous Systems

Journal Article

Adaptive integrated vehicle control using active front steering and rear torque vectoring

Domenico Bianchi

Alessandro Borri

Maria Domenica Di Benedetto

Stefano Di Gennaro

Gilberto Burgio

This work studies the combination of Active Front Steering (AFS) with Rear Torque Vectoring (RTV) actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearisation is applied to cancel the nonlinearities in the input?output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilisation capabilities when important parameters, like tyre stiffness and tyre characteristics, are affected by estimation errors.

About Me

Alessandro Borri received his B.Sc. and M.Sc. degrees (summa cum laude), both in Computer and Control Engineering, and his Ph.D. degree in Electrical and Information Engineering, from the University of L'Aquila, Italy, in 2004, 2007, and 2011, respectively. He spent research periods at the Ford Motor Company in Aachen, Germany (in 2007); at the University of California, Berkeley (in 2008-09) and Santa Barbara (in 2009-10); and at the Royal Institute of Technology (KTH), Stockholm (in 2011). In 2011-12, he was a Post-doctoral Researcher at the University of L'Aquila, Italy, where he currently holds an external affiliation and is an adjunct professor of Systems Biology. In 2012, he joined the Institute for Systems Analysis and Computer Science "A. Ruberti", National Research Council of Italy (CNR-IASI), where he is currently a researcher. Dr. Borri is a Senior Member of IEEE Control Systems Society (CSS), an Academic Editor of PLOS ONE, an Associate Editor of International Journal of Robust and Nonlinear Control, and a member of the IEEE-CSS Conference Editorial Board (CEB). He has co-authored over seventy peer-reviewed international publications and is a co-recipient of the "Premium Award 2018 for Best Paper in IET Systems Biology" for the work "The impact of negative feedback in metabolic noise propagation".

Dr. Alessandro Borri

Dr. Alessandro Borri

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