Systems and Control
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
Building on the work by Fainekos and Pappas and the one by Donze and Maler, we introduce AvSTL, an extension of metric interval temporal logic by averaged temporal operators. Its expressivity in capturing both space and time robustness…
For an improper complex signal x, its complementary covariance ExxT is not zero and thus it carries useful statistical information about x. Widely linear processing exploits Hermitian and complementary covariance to improve performance. In…
In future wireless networks, a significant number of users will be vehicular. One promising solution to improve the capacity for these vehicular users is to employ moving relays or car base stations. The system forms cell inside the vehicle…
As tools for dynamic system modelling both conventional methods such as transfer function or state space representation and modern power flow based methods are available. The latter methods do not depend on energy domain, are able to…
In this paper, we study networks of discrete-time linear time-invariant subsystems. Our focus is on situations where subsystems are connected to each other through a time-invariant topology and where there exists a base-station whose aim is…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
This paper considers a problem of output agreement in heterogeneous networks with dynamics on the nodes as well as on the edges. The control and disturbance signals entering the nodal dynamics are "unmatched" meaning that some nodes are…
In light of growing attention of intelligent vehicle systems, we propose developing a driver model that uses a hybrid system formulation to capture the intent of the driver. This model hopes to capture human driving behavior in a way that…
We propose a macroscopic traffic network flow model suitable for analysis as a dynamical system, and we qualitatively analyze equilibrium flows as well as convergence. Flows at a junction are determined by downstream supply of capacity as…
The conformance testing problem for dynamical systems asks, given two dynamical models (e.g., as Simulink diagrams), whether their behaviors are "close" to each other. In the semi-formal approach to conformance testing, the two systems are…
Future power grids will offer enhanced controllability due to the increased availability of power flow control units (FACTS). As the installation of control units in the grid is an expensive investment, we are interested in using few…
This paper presents an adaptive fault-tolerant control (FTC) scheme for a class of nonlinear uncertain multi-agent systems. A local FTC scheme is designed for each agent using local measurements and suitable information exchanged between…
This paper presents a general form of integral sliding mode manifold, and proposes an algorithmic approach based on Sum of Squares (SOS) programming to design generalized integral sliding mode manifold and controller for nonlinear systems…
We address the problem of determining if a discrete time switched consensus system converges for any switching sequence and that of determining if it converges for at least one switching sequence. For these two problems, we provide…
Adaptive optimal control of nonlinear dynamic systems with deterministic and known dynamics under a known undiscounted infinite-horizon cost function is investigated. Policy iteration scheme initiated using a stabilizing initial control is…
This work studies reduced order modeling (ROM) approaches to speed up the solution of variational data assimilation problems with large scale nonlinear dynamical models. It is shown that a key requirement for a successful reduced order…
The phasor measurement unit (PMU) placement problem is revisited by taking into account a stronger characterization of the electrical connectedness between various buses in the grid. To facilitate this study, the placement problem is…
In actual implementations of magnetic control laws for spacecraft attitude stabilization, the time in which Earth magnetic field is measured must be separated from the time in which magnetic dipole moment is generated. The latter separation…