Systems and Control
Over the past years, distributed energy resources (DER) have been the object of many studies, which recognise and establish their emerging role in the future of power systems. However, the implementation of many scenarios and mechanism are…
With the emergence of autonomous ground vehicles and the recent advancements in Intelligent Transportation Systems, Autonomous Traffic Management has garnered more and more attention. Autonomous Intersection Management (AIM), also known as…
This paper considers the identification of FIR systems, where information about the inputs and outputs of the system undergoes quantization into binary values before transmission to the estimator. In the case where the thresholds of the…
The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and…
We present theory and algorithms for the computation of probability-weighted "keep-out" sets to assure probabilistically safe navigation in the presence of multiple rigid body obstacles with stochastic dynamics. Our forward stochastic…
Emerging applications in autonomy require control techniques that take into account uncertain environments, communication and sensing constraints, while satisfying highlevel mission specifications. Motivated by this need, we consider a…
This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for…
Vehicle sharing system consists of a fleet of vehicles (usually bikes or cars) that can be rented at one station and returned at another station. We study how to achieve guaranteed service availability in such systems. Specifically, we are…
We consider team optimal control of decentralized systems with linear dynamics, quadratic costs, and arbitrary disturbance that consist of multiple sub-populations with exchangeable agents (i.e., exchanging two agents within the same…
We derive an algorithm to compute satisfiability bounds for arbitrary {\omega}-regular properties in an Interval-valued Markov Chain (IMC) interpreted in the adversarial sense. IMCs generalize regular Markov Chains by assigning a range of…
Vehicle-to-vehicle communications can change the driving behavior of drivers significantly by providing them rich information on downstream traffic flow conditions. This study seeks to model the varying car-following behaviors involving…
In this paper, we present two completely uncoupled algorithms for utility maximization. In the first part, we present an algorithm that can be applied for general non-concave utilities. We show that this algorithm induces a perturbed (by…
This paper proposes a centralized and a distributed sub-optimal control strategy to maintain in safe regions the real-time transient frequencies of a given collection of buses, and simultaneously preserve asymptotic stability of the entire…
This paper proposes a distributed strategy regulated on a subset of individual buses in a power network described by the swing equations to achieve transient frequency control while preserving asymptotic stability. Transient frequency…
A method is presented for solving the discrete-time finite-horizon Linear Quadratic Regulator (LQR) problem subject to auxiliary linear equality constraints, such as fixed end-point constraints. The method explicitly determines an affine…
Bode integrals of sensitivity and sensitivity-like functions along with complementary sensitivity and complementary sensitivity-like functions are conventionally used for describing performance limitations of a feedback control system. In…
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
We consider the problem of feasible coordination control for multiple homogeneous or heterogeneous mobile vehicles subject to various constraints (nonholonomic motion constraints, holonomic coordination constraints, equality/inequality…
In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, when some of them…
This paper considers the problem to design physical watermark signals to protect a control system against replay attacks. We first define the replay attack model, where an adversary replays the previous sensory data in order to fool the…