Systems and Control
In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…
In order to determine the optimal strategy to run a race on a curved track according to the lane number, we introduce a model based on differential equations for the velocity, the propulsive force and the anaerobic energy which takes into…
Small-signal instability issues of interconnected converter systems can be addressed by the impedance-based stability analysis method, where the impedance ratio at the point of common connection of different subsystems can be regarded as…
Modularity in military vehicle designs enables on-base assembly, disassembly, and reconfiguration of vehicles, which can be beneficial in promoting fleet adaptability and life cycle cost savings. To properly manage the fleet operation and…
This paper addresses the problem of decentralized tube-based nonlinear Model Predictive Control (NMPC) for a class of uncertain nonlinear continuous-time multi-agent systems with additive and bounded disturbance. In particular, the problem…
Extended object tracking considers the simultaneous estimation of the kinematic state and the shape parameters of a moving object based on a varying number of noisy detections. A main challenge in extended object tracking is the…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This paper deals with the design and experimental validation of a state-of-the art tube-based Model Predictive Control (MPC) for achieving time-constrained tasks. Given the uncertain nonlinear dynamics of the robot as well as a high-level…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
Robotic systems often need to consider multiple tasks concurrently. This challenge calls for controller synthesis algorithms that fulfill multiple control specifications while maintaining the stability of the overall system. In this paper,…
Differing from synchronous generators, there are lack of physical laws governing the synchronization dynamics of voltage-source converters (VSCs). The widely used phase-locked loop (PLL) plays a critical role in maintaining the synchronism…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
Decentralized intersection control techniques have received attention in the literature as tools that address scalability issues of network intersection control. Chief among these techniques are backpressure (BP) control algorithms, which…
In this paper we consider the problem of controlling a limited number of target nodes of a network. Equivalently, we can see this problem as controlling the target variables of a structured system, where the state variables of the system…
Distributed multi-target tracking (DMTT) is addressed for sensors having different fields of view (FoVs). The proposed approach is based on the idea of fusing the posterior Probability Hypotheses Densities (PHDs) generated by the sensors on…
We consider a Charging Network Operator (CNO) that owns a network of Electric Vehicle (EV) public charging stations and wishes to offer a menu of differentiated service options for access to its stations. This involves designing optimal…
Accurate phase connectivity information is essential for advanced monitoring and control applications in power distribution systems. The existing data-driven approaches for phase identification lack precise physical interpretation and…
Dual-arm manipulation tasks can be prescribed to a robotic system in terms of desired absolute and relative motion of the robot's end-effectors. These can represent, e.g., jointly carrying a rigid object or performing an assembly task. When…
Energy storage applications are explored from a prosumer (consumers with generation) perspective for the island of Madeira in Portugal. These applications could also be relevant to other power networks. We formulate a convex co-optimization…
This paper investigates the problem of distributed network-wide averaging and proposes a new greedy gossip algorithm. Instead of finding the optimal path of each node in a greedy manner, the proposed approach utilises a suboptimal…