Systems and Control
Recent developments in the realm of state estimation of stochastic dynamic systems in the presence of non-Gaussian noise have induced a new methodology called the maximum correntropy filtering. The filters designed under the maximum…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
In this note, analysis of time delay systems using Lambert W function approach is reassessed. A common canonical form of time delay systems is defined. We extended the recent results of [6] for second order into nth order system. The…
In this paper, we deal with distributed estimation problems in diffusion networks with heterogeneous nodes, i.e., nodes that either implement different adaptive rules or differ in some other aspect such as the filter structure or length, or…
In this paper we formulate a solution of the robust linear regression problem in a general framework of correntropy maximization. Our formulation yields a unified class of estimators which includes the Gaussian and Laplacian kernel-based…
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of…
Markov decision processes (MDPs) are standard models for probabilistic systems with non-deterministic behaviours. Long-run average rewards provide a mathematically elegant formalism for expressing long term performance. Value iteration (VI)…
Optimal and Learning Control for Autonomous Robots has been taught in the Robotics, Systems and Controls Masters at ETH Zurich with the aim to teach optimal control and reinforcement learning for closed loop control problems from a unified…
For additive actuator and sensor faults, we propose a systematic method to design a state-space fault estimation filter directly from Markov parameters identified from fault-free data. We address this problem by parameterizing a…
Recently we developed partial-observation supervisor localization, a top-down approach to distributed control of discrete-event systems (DES) under partial observation. Its essence is the decomposition of the partial-observation monolithic…
The attitude space has been parameterized in various ways for practical purposes. Different representations gain preferences over others based on their intuitive understanding, ease of implementation, formulaic simplicity, and physical as…
We propose a distributed version of a stochastic approximation scheme constrained to remain in the intersection of a finite family of convex sets. The projection to the intersection of these sets is also computed in a distributed manner and…
We consider the problem of minimizing the difference in the demand and the supply of power using microgrids. We setup multiple microgrids, that provide electricity to a village. They have access to the batteries that can store renewable…
Next-generation power grids will likely enable concurrent service for residences and plug-in electric vehicles (PEVs). While the residence power demand profile is known and thus can be considered inelastic, the PEVs' power demand is only…
Voltage deviations occur frequently in power systems. If the violation at some buses falls outside the prescribed range, it will be necessary to correct the problem by controlling reactive power resources. In this paper, an optimal…
Controlled islanding is considered to be the last countermeasure to prevent system-wide blackouts in case of cascading failures. It splits the system into self-sustained islands to maintain transient stability at the expense of possible…
In this paper we present a novel methodology for leveraging Receding Horizon Control (RHC), also known as Model Predictive Control (MPC) strategies for distributed battery storage in a planning problem using a Benders decomposition…
Appropriate control of high penetration renewable energies in power systems requires a complete modeling of the system. In this paper, a comprehensive state space modeling of voltage source inverters, networks and loads are studied. We have…
Wireless networked control systems (WNCS) are composed of spatially distributed sensors, actuators, and con- trollers communicating through wireless networks instead of conventional point-to-point wired connections. Due to their main…
Traffic signals are ubiquitous devices that first appeared in 1868. Recent advances in information and communications technology (ICT) have led to unprecedented improvements in such areas as mobile handheld devices (i.e., smartphones), the…