Systems and Control
In this paper, a Novel Active Disturbance Rejection Control (N-ADRC) strategy is proposed that replaces the Linear Extended state observer (LESO) used in Conventional ADRC (C-ADRC) with a Nested LESO. In the nested LESO, the inner-loop LESO…
Traditional Input-Output Feedback Linearization (IOFL) requires full knowledge of system dynamics and assumes no disturbance at the input channel and no system's uncertainties. In this paper, a model-free Active Input-Output Feedback…
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…
It is shown that for two large subclasses of discrete-time nonlinear systems - analytic systems defined on a compact state space and rational systems - the minimum length $r^*$ for input sequences, called here accessibility index of the…
We present a data-driven method for separating complex, multiscale systems into their constituent time-scale components using a recursive implementation of dynamic mode decomposition (DMD). Local linear models are built from windowed…
Hybrid system falsification is an actively studied topic, as a scalable quality assurance methodology for real-world cyber-physical systems. In falsification, one employs stochastic hill-climbing optimization to quickly find a…
In this paper we introduce a new notion of passivity which we call Krasovskii's passivity and provide a sufficient condition for a system to be Krasovskii's passive. Based on this condition, we investigate classes of port-Hamiltonian and…
We propose in the paper a novel framework for using a common control input to simultaneously steer an infinite ensemble of networked control systems. We address the problem of co-designing information flow topology and network dynamics of…
We focus our attention on the most common scenario in networked control systems where the measured output from the observer is transmitted via a communication channel to the controller. Using information theoretic results, we studied the…
Convergence guarantees of many resilient consensus algorithms are based on the graph theoretic properties of $r$- and $(r,s)$-robustness. These algorithms guarantee consensus of normally behaving agents in the presence of a bounded number…
This paper addresses an open problem in traffic modeling: the second-order macroscopic node problem. A second-order macroscopic traffic model, in contrast to a first-order model, allows for variation of driving behavior across…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
Power system dynamics are naturally nonlinear. The nonlinearity stems from power flows, generator dynamics, and electromagnetic transients. Characterizing the nonlinearity of the dynamical power system model is useful for designing superior…
We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invariant control systems and next, for dynamical control systems…
We consider the economic dispatch (ED) for an Energy Internet composed of energy routers (ERs), interconnected microgrids and main grid. The microgrid consists of several bus nodes associated with distributed generators (DGs) and…
We consider resilient versions of discrete-time multi-agent consensus in the presence of faulty or even malicious agents in the network. In particular, we develop event-triggered update rules which can mitigate the influence of the…
The propagation of traffic congestion along roads is a commonplace nonlinear phenomenon. When many roads are connected in a network, congestion can spill from one road to others as drivers queue to enter a congested road, creating further…
Sensors in buildings are used for a wide variety of applications such as monitoring air quality, contaminants, indoor temperature, and relative humidity. These are used for accessing and ensuring indoor air quality, and also for ensuring…
The integration of large-scale renewable generation has major implications on the operation of power systems, two of which we address in this work. First, system operators have to deal with higher degrees of uncertainty due to forecast…
This paper proposes a Voltage Stability Index (VSI) suitable for unbalanced polyphase power systems. To this end, the grid is represented by a polyphase multiport network model (i.e., compound hybrid parameters), and the aggregate behavior…