Systems and Control
In stochastic control applications, typically only an ideal model (controlled transition kernel) is assumed and the control design is based on the given model, raising the problem of performance loss due to the mismatch between the assumed…
Energy storage has great potential in grid congestion relief. By making large-scale energy storage portable through trucking, its capability to address grid congestion can be greatly enhanced. This paper explores a business model of…
The increased penetration of volatile renewable energy into distribution networks necessities more efficient distributed voltage control. In this paper, we design distributed feedback control algorithms where each bus can inject \emph{both…
In this paper, we study various theoretical properties of a class of prioritized inverse kinematics (PIK) solutions that can be considered as a class of (output regulation or tracking) control laws of a dynamical system with prioritized…
This technical note focuses on the control of a quadrotor unmanned aerial vehicle (UAV) tethered to the ground. The control objective is to stabilize the UAV to the desired position while ensuring that the cable remains taut at all times. A…
A new way to design parameter estimators with enhanced performance is proposed in the paper. The procedure consists of two stages, first, the generation of new regression forms via the application of a dynamic operator to the original…
This paper studies static state estimation in multi-sensor settings, with a caveat that an unknown subset of the sensors are compromised by an adversary, whose measurements can be manipulated arbitrarily. The attacker is able to compromise…
In this paper we propose a novel approach to identify dynamical systems. The method estimates the model structure and the parameters of the model simultaneously, automating the critical decisions involved in identification such as model…
In this paper, we show that the common approach for simulation non-linear stochastic models, commonly used in system identification, via setting the noise contributions to zero results in a biased response. We also demonstrate that to…
This paper presents a methodology for model based robust fault diagnosis and a methodology for input design to obtain optimal diagnosis of faults. The proposed algorithm is suitable for real time implementation. Issues of robustness are…
We propose a model for representing a point mass subject to Coulomb friction in feedback with a PID controller, based on a differential inclusion comprising all the possible magnitudes of static friction during the stick phase. For this…
With recent advances in battery technology and the resulting decrease in the charging times, public charging stations are becoming a viable option for Electric Vehicle (EV) drivers. Concurrently, wide-spread use of location-tracking devices…
With the ever increasing power rates of wind turbines, more advanced control techniques are needed to facilitate tall towers that are low-weight and cost effective, but in effect more flexible. Such soft-soft tower configurations generally…
The importance of reactive power compensation for power factor (PF) correction will significantly increase with the large-scale integration of distributed generation interfaced via inverters producing only active power. In this work, we…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
This paper investigates the frequency control of multi-machine power systems subject to uncertain and dynamic net loads. We propose distributed internal model controllers that coordinate synchronous generators and demand response to tackle…
Controllability of complex networks arises in many technological problems involving social, financial, road, communication, and smart grid networks. In many practical situations, the underlying topology might change randomly with time, due…
Input-to-state stability (ISS) of switched systems is studied where the individual subsystems are connected in a serial cascade configuration, and the states are allowed to reset at switching times. An ISS Lyapunov function is associated to…
This paper studies delayed synchronization of continuous-time multi-agent systems (MAS) in the presence of unknown nonuniform communication delays. A delay-free transformation is developed based on a communication network which is a…
A self-learning optimal control algorithm for episodic fixed-horizon manufacturing processes with time-discrete control actions is proposed and evaluated on a simulated deep drawing process. The control model is built during consecutive…