Systems and Control
This work considers resilient, cooperative state estimation in unreliable multi-agent networks. A network of agents aims to collaboratively estimate the value of an unknown vector parameter, while an {\em unknown} subset of agents suffer…
Agent-based modeling and simulation (ABMS) has been a popular approach to modeling autonomous and interacting agents in a multi-agent system. Specifically, ABMS can be applied to connected and automated vehicles (CAVs), since CAVs can be…
In this paper we consider the problem of computing control invariant sets for linear controlled systems with constraints on the input and on the states. We focus in particular on the complexity of the computation of the N-step operator,…
We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety,…
In this paper, we propose a new systematic approach based on nonquadratic Lyapunov function and technique of introducing slack matrices, for a class of affine nonlinear systems with disturbance. To achieve the goal, first, the affine…
Future Mars missions will require advanced guidance, navigation, and control algorithms for the powered descent phase to target specific surface locations and achieve pinpoint accuracy (landing error ellipse $<$ 5 m radius). The latter…
The present work proposes a new approach to energy effiency for filtering of a system interconnected by a Multi-Hop network. The minimization of the energy cost per time unit is obtained through limiting the number of packets retransmission…
This paper provides new sufficient conditions so that the optimal policy of a partially observed Markov decision process (POMDP) can be lower bounded by a myopic policy. The two new proposed conditions, namely, Lehmann precision and…
This paper addresses Charge Point Anxiety surrounding electric vehicles (EVs), an issue preventing the mass adoption of this greener mode of transport. We discuss the design and implementation of a charge point adapter called…
Pressure on ancillary reserves, i.e.frequency preserving, in power systems has significantly mounted due to the recent generalized increase of the fraction of (highly fluctuating) wind and solar energy sources in grid generation mixes. The…
In this paper, we present an algorithm for synthesizing certificates---so-called barrier certificates---for safety of hybrid dynamical systems. Unlike the usual approach of using constraint solvers to compute the certificate from the system…
We analyze performance of a class of time-delay first-order consensus networks from a graph topological perspective and present methods to improve it. The performance is measured by network's square of H-2 norm and it is shown that it is a…
Traffic assignment is an integral part of urban city planning. Roads and freeways are constructed to cater to the expected demands of the commuters between different origin-destination pairs with the overall objective of minimising the…
The success of the transportation electricification in this century particularly requires the penentration of the internet of plug-in electric vehicles (PEVs) into the smart power grid. Beside the function of serving the traditional…
A variety of anomaly detection schemes have been proposed to detect malicious attacks to Cyber-Physical Systems. Among these schemes, Dynamic Watermarking methods have been proven highly effective at detecting a wide range of attacks.…
Studying the stability of the Kalman filter whose measurements are randomly lost has been an active research topic for over a decade. In this paper we extend the existing results to a far more general setting in which the measurement…
Air traffic control increasingly depends on information and communication technology (ICT) to manage traffic flow through highly congested and increasingly interdependent airspace regions. While these systems are critical to ensuring the…
System identification of smart buildings is necessary for their optimal control and application in demand response. The thermal response of a building around an operating point can be modeled using a network of interconnected resistors with…
A Nonlinear PID (NLPID) controller is proposed to stabilize the translational and rotational motion of a 6-DOF UAV quadrotor system and enforce it to track a given trajectory with minimum energy and error. The complete nonlinear model of…
In this paper we examine how Lagrangian techniques can be used to compute underapproximations and overapproximation of the finite-time horizon, stochastic reach-avoid level sets for discrete-time, nonlinear systems. This approach is…