Systems and Control
In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n,…
We investigate the ability of a homogeneous collection of deferrable energy loads to behave as a battery; that is, to absorb and release energy in a controllable fashion up to fixed and predetermined limits on volume, charge rate and…
In this paper a mesoscopic hybrid model, i.e. a microscopic hybrid model that takes into account macroscopic parameters, is introduced for designing a human-inspired Adaptive Cruise Control. A control law is proposed with the design goal of…
In this paper, we consider the cooperative output regulation problem for heterogeneous linear multi-agent systems in the presence of communication constraints. Under standard assumptions on the agents dynamics, we propose a distributed…
This paper studies the operation and scheduling of electric loads in micro-grid, a highly automated and distributed cyber-physical energy system (CPES). We establish rigorous mathematical expressions for electric loads and battery banks in…
This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the…
Due to geometrical errors and possible misalignment of the sensors, wheel speed measurements provided by incremental encoders in road vehicles are usually affected by significant periodic noises. This paper presents an online wheel speed…
Technology of autonomous vehicles (AVs) is getting mature and many AVs will appear on the roads in the near future. AVs become connected with the support of various vehicular communication technologies and they possess high degree of…
Due to various green initiatives, renewable energy will be massively incorporated into the future smart grid. However, the intermittency of the renewables may result in power imbalance, thus adversely affecting the stability of a power…
The impact of Phasor Measurement Units (PMUs) for providing situational awareness to transmission system operators has been widely documented. Micro-PMUs ($\mu$PMUs) are an emerging sensing technology that can provide similar benefits to…
We propose RSFT, which is an extension of the one dimensional Sparse Fourier Transform algorithm to higher dimensions in a way that it can be applied to real, noisy data. The RSFT allows for off-grid frequencies. Furthermore, by…
This work addresses the problem of fusing two random vectors with unknown cross-correlations. We present a formulation and a numerical method for computing the optimal estimate in the minimax sense. We extend our formulation to linear…
Multi-agent differential games are important and useful tools for analyzing many practical problems. With the recent surge of interest in using UAVs for civil purposes, the importance and urgency of developing tractable multi-agent analysis…
This paper develops an interpolatory framework for weighted-$\mathcal{H}_2$ model reduction of MIMO dynamical systems. A new representation of the weighted-$\mathcal{H}_2$ inner products in MIMO settings is introduced and used to derive…
In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free…
This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…
UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…
This paper presents a study of improvement in stability in a single machine connected to infinite bus (SMIB) power system by using static compensator (STATCOM). The gains of Proportional-Integral-Derivative (PID) controller in STATCOM are…
In this paper, we consider stochastic coverage of bounded domains by a diffusing swarm of robots that take local measurements of an underlying scalar field. We introduce three control methodologies with diffusion, advection, and reaction as…
The basic active disturbance rejection control (BADRC) algorithm with only one order higher extended state observer (ESO) proves to be robust to both internal and external disturbances. An advantage of BADRC is that in many applications it…