Systems and Control
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this work, model-predictive control is used to track a trajectory…
This paper proposes a novel kind of Unknown Input Observer (UIO) called Reset Unknown Input Observer (R-UIO) for state estimation of linear systems in the presence of disturbance using Linear Matrix Inequality (LMI) techniques. In R-UIO,…
Recent advances in Machine Learning(ML) have led to its broad adoption in a series of power system applications, ranging from meter data analytics, renewable/load/price forecasting to grid security assessment. Although these data-driven…
In this paper, we study the system identification problem for sparse linear time-invariant systems. We propose a sparsity promoting block-regularized estimator to identify the dynamics of the system with only a limited number of input-state…
In this work we present a nonlinear adaptive suboptimal control strategy for uncertain nonlinear systems. Stochastic parametric uncertainty is dealt with by employing spectral decomposition of the random variables by means of the…
As one important means of ensuring secure operation in a power system, the contingency selection and ranking methods need to be more rapid and accurate. A novel method-based least absolute shrinkage and selection operator (Lasso) algorithm…
This document presents the data for a single-phase distribution bus (based on IEEE 37 bus) together with the model and data for a PV inverter and active and reactive power loads.
The control of dynamical, networked systems continues to receive much attention across the engineering and scientific research fields. Of particular interest is the proper way to determine which nodes of the network should receive external…
There are many methods developed to mitigate transients induced when abruptly changing dynamic algorithms such as those found in digital filters or controllers. These "bumpless transfer" methods have a computational burden to them and take…
The traction force of a kite can be used to drive a cyclic motion for extracting wind energy from the atmosphere. This paper presents a novel quasi-steady modelling framework for predicting the power generated over a full pumping cycle. The…
Control structures have critical influences on converter-interfaced distributed generations (DG) under unbalanced conditions. Most of previous works focus on suppressing active power oscillations and ripples of DC bus voltage. In this…
We consider a multi-adversary version of the supervisory control problem for discrete-event systems, in which an adversary corrupts the observations available to the supervisor. The supervisor's goal is to enforce a specific language in…
This paper proposes a method for direct torque control of Brushless DC (BLDC) motors. Evaluating the trapezium of back-EMF is needed, and is done via a sliding mode observer employing just one measurement of stator current. The effect of…
Recently, ergodic control has been suggested as a means to guide mobile sensors for information gathering tasks. In ergodic control, a mobile sensor follows a trajectory that is ergodic with respect to some information density distribution.…
Autonomous inspection of large geographical areas is a central requirement for efficient hazard detection and disaster management in future cyber-physical systems such as smart cities. In this regard, exploiting unmanned aerial vehicle…
There are two main challenges in control of hybrid systems which are to guarantee the closed-loop stability and reduce computational complexity. In this paper, we propose the exponential stability conditions of hybrid systems which are…
Average consensus algorithms compute the global average of sensor data in a distributed fashion using local sensor nodes. Simple execution, decentralized philosophy make these algorithms suitable for WSN scenarios. Most of the researchers…
In this paper a novel reset control synthesis method is proposed: CRONE reset control, combining a robust fractional CRONE controller with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved by…
In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…
Cascading failures in power systems propagate non-locally, making the control and mitigation of outages extremely hard. In this work, we use the emerging concept of the tree partition of transmission networks to provide an analytical…