Systems and Control
This paper deals with the certification problem for robust quadratic stability, robust state convergence, and robust quadratic performance of linear systems that exhibit bounded rates of variation in their parameters. We consider both…
High-dimensional systems that have a low-dimensional dominant behavior allow for model reduction and simplified analysis. We use differential analysis to formalize this important concept in a nonlinear setting. We show that dominance can be…
This paper presents a bionic reflex control strategy for a kinematically constrained robotic finger. Here, the bionic reflex is achieved through a force tracking impedance control strategy. The dynamic model of the finger is reduced subject…
This paper revisits the problem of multi-agent consensus from a graph signal processing perspective. Describing a consensus protocol as a graph spectrum filter, we present an effective new approach to the analysis and design of consensus…
This article presents the dynamic interpolation problem for locomotion systems evolving on a trivial principal bundle $Q$. Given an ordered set of points in $Q$, we wish to generate a trajectory which passes through these points by…
We present a framework based on spectral graph theory that captures the interplay among network topology, system inertia, and generator and load damping in determining the overall grid behavior and performance. Specifically, we show that…
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions for optimality; these necessary conditions typically yield two…
The statistical behavior of the eigenvalues of the sample covariance matrix (SCM) plays a key role in determining the performance of adaptive beamformers (ABF) in presence of noise. This paper presents a method to compute the approximate…
Real-world autonomous systems operate under uncertainty about both their pose and dynamics. Autonomous control systems must simultaneously perform estimation and control tasks to maintain robustness to changing dynamics or modeling errors.…
The costs incurred in a mobile robot (MR) change due to change in physical and environmental factors. Usually, there are two approaches to consider these costs, either explicitly modelling these different factors to calculate the cost or…
In this note we essentially simplify the proof of the main result in one paper from leading computer science conference 25th ACM Symposium on Parallelism in Algorithms and Architectures (see [3].) We also present direct method and give…
Stochastic optimization (SO) considers the problem of optimizing an objective function in the presence of noise. Most of the solution techniques in SO estimate gradients from the noise corrupted observations of the objective and adjust…
This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility…
Constrained model predictive control (MPC) is a widely used control strategy, which employs moving horizon-based on-line optimisation to compute the optimum path of the manipulated variables. Nonlinear MPC can utilize detailed models but it…
An important tool for proving safety of dynamical systems is the notion of a barrier certificate. In this paper we prove that every robustly safe ordinary differential equation has a barrier certificate. Moreover, we show a construction of…
This paper proposes a parallel optimization algorithm for cooperative automation of large-scale connected vehicles. The task of cooperative automation is formulated as a centralized optimization problem taking the whole decision space of…
A speed-sensorless state feedback controller for induction machines (IMs) with LC filter is proposed. The estimation of speed and remaining states is based on a speed-adaptive observer, requiring only the measurement of the filter input…
Reach-avoid problems involve driving a system to a set of desirable configurations while keeping it away from undesirable ones. Providing mathematical guarantees for such scenarios is challenging but have numerous potential practical…
In this paper, we investigate the exact controllability properties of an advection-diffusion equation on a bounded domain, using time- and space-dependent velocity fields as the control parameters. This partial differential equation (PDE)…
The non-consensus problems of high order linear time-invariant dynamical homogeneous multi-agent systems are concerned. Based on the conditions of consensus achievement, the mechanisms that lead to non-consensus motions are analyzed.…