Systems and Control
Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…
Here, we study the ultimately bounded stability of network of mismatched systems using Lyapunov direct method. The upper bound on the error of oscillators from the center of the neighborhood is derived. Then the performance of an adaptive…
Maximum hands-off control is a control that has the minimum L0 norm among all feasible controls. It is known that the maximum hands-off (or L0-optimal) control problem is equivalent to the L1-optimal control under the assumption of…
Motivated by the Model-Based Design process for Cyber-Physical Systems, we consider issues in conformance testing of systems. Conformance is a quantitative notion of similarity between the output trajectories of systems, which considers…
In this paper, the $\mathcal{H}_{2}$ optimal approximation of a $n_{y}\times{n_{u}}$ transfer function $\mathbf{G}(s)$ by a finite dimensional system $\hat{\mathbf{H}}_{d}(s)$ including input/output delays, is addressed. The underlying…
Consider the question of building a system of commands remotely controlled robot that can perform motion stabilization in the presence of a constant delay of the control signal.
We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established…
This paper discusses the problem of designing a self-balancing unicycle where pedals are used for both power generation and speed control. After developing the principal physical aspects (in the longitudinal dimension), we describe an…
Power systems normally operate at their stable operating conditions where the power supply and demand are balanced. In emergency situations, the operators proceed to cut a suitable amount of loads to rebalance the supply-demand and…
In this paper, we consider the stability analysis of large-scale distributed networked control systems with random communication delays between linearly interconnected subsystems. The stability analysis is performed in the Markov jump…
This paper focuses on the performance and the robustness analysis of stochastic jump linear systems. The state trajectory under stochastic jump process becomes random variables, which brings forth the probability distributions in the system…
A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many…
Active consumer participation is seen as an integral part of the emerging smart grid. Examples include demand-side management programs, incorporation of consumer-owned energy storage or renewable energy units, and active energy trading.…
Regularization and Bayesian methods for system identification have been repopularized in the recent years, and proved to be competitive w.r.t. classical parametric approaches. In this paper we shall make an attempt to illustrate how the use…
Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…
The focus of this paper is on the rate and power control algorithms in Dedicated Short Range Communication (DSRC) for vehicular networks. We first propose a utility maximization framework by leveraging the well-developed network congestion…
This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…
This paper studies output feedback consensus protocol design problems for linear multi-agent systems with directed graphs. We consider both leaderless and leader-follower consensus with a leader whose control input is nonzero and bounded.…
We consider minimization of the sum of a large number of convex functions, and we propose an incremental aggregated version of the proximal algorithm, which bears similarity to the incremental aggregated gradient and subgradient methods…
Stochastic games are often used to model reactive processes. We consider the problem of synthesizing an optimal almost-sure winning strategy in a two-player (namely a system and its environment) turn-based stochastic game with both a…