Systems and Control
Small satellites have proven to be viable Earth observation platforms. These satellites operate in regimes of increased trajectory uncertainty where traditional planning approaches can lead to sub-optimal task plans, limiting science…
This paper presents the mathematical modeling, controller design, and flight-testing of an over-actuated Vertical Take-off and Landing (VTOL) tiltwing Unmanned Aerial Vehicle (UAV). Based on simplified aerodynamics and first-principles, a…
A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee…
In this paper, a robust autopilot is designed for a missile autopilot, such that the system stability is guaranteed in low altitude and short-range conditions. First, using the v-gap metric, the system is linearzed around the equilibrium…
We consider time synchronization attack against multi-system scheduling in a remote state estimation scenario where a number of sensors monitor different linear dynamical processes and schedule their transmissions through a shared collision…
In this paper, we study how to take samples at a data source for improving the freshness of received data samples at a remote receiver. We use non-linear functions of the age of information to measure data freshness, and provide a survey of…
Neural network models for dynamic systems can be trained either in parallel or in series-parallel configurations. Influenced by early arguments, several papers justify the choice of series-parallel rather than parallel configuration…
In this paper, we propose a protocol that preserves (statistical) privacy of agents' costs in peer-to-peer distributed optimization against a passive adversary that corrupts certain number of agents in the network. The proposed protocol…
This paper proposes an efficient implementation for a continuous terminal algorithm (CTA). Although CTA is a continuous version of the famous twisting algorithm (TA), the conventional implementations of this CTA still suffer from…
In subspace identification, prior information can be used to constrain the eigenvalues of the estimated state-space model by defining corresponding LMI regions. In this paper, first we argue on what kind of practical information can be…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
Forming (hybrid) AC/DC microgrids (MGs) has become a promising manner for the interconnection of various kinds of distributed generators that are inherently AC or DC electric sources. This paper addresses the distributed asynchronous power…
Ensemble control deals with the problem of using a finite number of control inputs to simultaneously steer a large population (in the limit, a continuum) of control systems. Dual to the ensemble control problem, ensemble estimation deals…
We consider a scenario where $N$ users send packets to a common access point. The receiver decodes the message of each user by treating the other user's signals as noise. Associated with each user is its channel state and a finite queue…
Fluid models are a popular formalism in the quantitative modeling of biochemical systems and analytical performance models. The main idea is to approximate a large-scale Markov chain by a compact set of ordinary differential equations…
Economic dispatch problem for a networked power system has been considered. The objective is to minimize the total generation cost while meeting the overall supply-demand balance and generation capacity. In particular, a more practical…
In this paper, we address the issue of congestion in future Unmanned Aerial Vehicle (UAVs) traffic system in uncertain weather. We treat the traffic of UAVs as fluid queues, and introduce models for traffic dynamics at three basic traffic…
A classic reachability problem for safety of dynamic systems is to compute the set of initial states from which the state trajectory is guaranteed to stay inside a given constraint set over a given time horizon. In this paper, we leverage…
In this paper, the tracking performance limitation of networked control systems (NCSs) is studied. The NCSs is considered as continuous-time linear multi-input multi-output (MIMO) systems with random reference noises. The controlled plants…
This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…