Systems and Control
The way in which electric power depends on the topology of circuits with mixed voltage and current sources is examined. The power flowing in any steady-state DC circuit is shown to depend on a minimal set of key variables called fundamental…
We develop a decentralized $H_\infty$ synthesis approach to detection of biasing misappropriation attacks on distributed observers. Its starting point is to equip the observer with an attack model which is then used in the design of attack…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade. Its…
Intelligent building automation systems can reduce the energy consumption of heating, ventilation and air-conditioning (HVAC) units by sensing the comfort requirements automatically and scheduling the HVAC operations dynamically.…
Microgrids are resources that can be used to restore critical loads after a natural disaster, enhancing resilience of a distribution network. To deal with the stochastic nature of intermittent energy resources, such as wind turbines (WTs)…
Real-world robots are becoming increasingly complex and commonly act in poorly understood environments where it is extremely challenging to model or learn their true dynamics. Therefore, it might be desirable to take a task-specific…
In an age of ever-increasing penetration of GPS-enabled mobile devices, the potential of real-time "probe" location information for estimating the state of transportation networks is receiving increasing attention. Much work has been done…
Recent attacks on power grids demonstrated the vulnerability of the grids to cyber and physical attacks. To analyze this vulnerability, we study cyber-physical attacks that affect both the power grid physical infrastructure and its…
Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…
We revisit the classical dissipativity theorem of linear-quadratic theory in a generalized framework where the quadratic storage is negative definite in a p-dimensional subspace and positive definite in a complementary subspace. The…
Macroscopic traffic models are necessary for simulation and study of traffic's complex macro-scale dynamics, and are often used by practitioners for road network planning, integrated corridor management, and other applications. These models…
Motivated by the recent cyber attack on the Ukrainian power grid, we study cyber attacks on power grids that affect both the physical infrastructure and the data at the control center. In particular, we assume that an adversary attacks an…
Diagonally dominant matrices have many applications in systems and control theory. Linear dynamical systems with scaled diagonally dominant drift matrices, which include stable positive systems, allow for scalable stability analysis. For…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
Average consensus is fundamental for distributed systems since it underpins key functionalities of such systems ranging from distributed information fusion, decision-making, to decentralized control. In order to reach an agreement, existing…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…
Since the limited power capacity, finite inertia, and dynamic loads make the shipboard power system (SPS) vulnerable, the automatic reconfiguration for failure recovery in SPS is an extremely significant but still challenging problem. It is…
A networked control system (NCS) consisting of cascaded two-port communication channels between the plant and controller is modeled and analyzed. Towards this end, the robust stability of a standard closed-loop system in the presence of…
We study in this paper a class of constrained linear-quadratic (LQ) optimal control problem formulations for the scalar-state stochastic system with multiplicative noise, which has various applications, especially in the financial risk…