Systems and Control
This work considers the problem of selecting overlapping control structures to remove decentralized fixed modes. The selection of such controller is conventionally carried out based on minimal overlapping communications. In this paper, this…
If a dynamic system has active constraints on the state vector and they are known, then taking them into account during modeling is often advantageous. Unfortunately, in the constrained discrete-time state-space estimation, the state…
This paper studies an output feedback stabilization control framework for discrete-time linear systems with stochastic dynamics determined by an independent and identically distributed (i.i.d.) process. The controller is constructed with an…
The inherent intermittency of wind and solar generation presents a significant challenge as we seek to increase the penetration of renewable generation in the power grid. Increasingly, energy storage is being deployed alongside renewable…
Reinforcement Learning (RL) has demonstrated a huge potential in learning optimal policies without any prior knowledge of the process to be controlled. Model Predictive Control (MPC) is a popular control technique which is able to deal with…
We address the problem of state estimation, attack isolation, and control of discrete-time linear time-invariant systems under (potentially unbounded) actuator and sensor false data injection attacks. Using a bank of unknown input…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…
The complex tasks such as surveillance, construction, search and rescue can benefit of the maneuverability of multirotor Micro Aerial Vehicles (MAVs) to obtain robust, cooperative system behavior and formation control is a prominent…
The Poisson multi-Bernoulli mixture (PMBM) filter is conjugate prior composed of the union of a Poisson point process (PPP) and a multi-Bernoulli mixture (MBM). In this paper, a new PMBM filter for tracking multiple targets with randomly…
Infrastructure in future smart and connected communities is envisioned as an aggregate of public services, including the energy, transportation and communication systems, all intertwined with each other. The intrinsic interdependency among…
This paper presents an integration of nonlinear disturbance observer within proxy-based sliding mode control (IDO-PSMC) approach for Pneumatic Muscle Actuators (PMAs). Due to the nonlinearities, uncertainties, hysteresis, and time-varying…
In this paper, we introduce a definition of phase response for a class of multi-input multi-output (MIMO) linear time-invariant (LTI) systems, the frequency responses of which are cramped at all frequencies. This phase concept generalizes…
The Internet of things (IoT) comprises of wireless sensors and actuators connected via access points to the Internet. Often, the sensing devices are remotely deployed with limited battery power and are equipped with energy harvesting…
Reinforcement learning (RL) is used to directly design a control policy using data collected from the system. This paper considers the robustness of controllers trained via model-free RL. The discussion focuses on the standard model-based…
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…
While it has been repeatedly shown that learning-based controllers can provide superior performance, they often lack of safety guarantees. This paper aims at addressing this problem by introducing a model predictive safety certification…
In this paper, we discuss various topological and metrical aspects of the set of stabilizing static feedback gains for multiple-input-multiple-output (MIMO) linear-time-invariant (LTI) systems, in both continuous and discrete-time.…
Given a log and a specification, timed pattern matching aims at exhibiting for which start and end dates a specification holds on that log. For example, "a given action is always followed by another action before a given deadline". This…
The increasing penetration of power-electronic-interfaced devices is expected to have a significant effect on the overall system inertia and a crucial impact on the system dynamics. In the future, the reduction of inertia will have drastic…
As the share of renewables in the grid increases, the operation of power systems becomes more challenging. The present paper proposes a method to formulate and solve chance-constrained optimal power flow while explicitly considering the…