Systems and Control
We present Contingency Model Predictive Control (CMPC), a novel and implementable control framework which tracks a desired path while simultaneously maintaining a contingency plan -- an alternate trajectory to avert an identified potential…
Statistical model checking (SMC) is a technique for analysis of probabilistic systems that may be (partially) unknown. We present an SMC algorithm for (unbounded) reachability yielding probably approximately correct (PAC) guarantees on the…
The insulin sensitivity (IS) of the human body changes with a circadian rhythm. This adds to the time-varying feature of the glucose metabolism process and places challenges on the blood glucose (BG) control of patients with Type 1 Diabetes…
In this work, a novel data-based stochastic global identification framework is introduced for air vehicles operating under varying flight states and uncertainty. In this context, the term global refers to the identification of a model that…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
In today's literature "Model-Free Control," or MFC, and "Active Disturbance Rejection Control," or ADRC, are the most prominent approaches in order to keep the benefits of PID controllers, that are so popular in the industrial world, and in…
Controlling microalgae cultivation, i.e., a crucial industrial topic today, is a challenging task since the corresponding modeling is complex, highly uncertain and time-varying. A model-free control setting is therefore introduced in order…
We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…
In this paper, the repeat-groundtrack orbit maintenance problem is addressed for spacecraft driven by electric propulsion. An adaptive solution is proposed, which combines an hysteresis controller and a recursive least squares filter. The…
We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…
The cryptosystem based on the Learning-with-Errors (LWE) problem is considered as a post-quantum cryptosystem, because it is not based on the factoring problem with large primes which is easily solved by a quantum computer. Moreover, the…
We study the design problems of state observers and tracking controllers for a class of hybrid systems whose state jumps. The idea is to utilize the well-known method of gluing the jump set (a part of domain where the jumps take place) onto…
This paper presents a detection algorithm for sensor attacks and a resilient state estimation scheme for a class of uniformly observable nonlinear systems. An adversary is supposed to corrupt a subset of sensors with the possibly unbounded…
The security of control systems under sensor attacks is investigated. Redundant observability is introduced, explaining existing security notions including the security index, attack detectability, and observability under attacks.…
This paper considers the economic dispatch problem for a network of power generators and customers. In particular, our aim is to minimize the total generation cost under the power supply-demand balance and the individual generation capacity…
Supply chain management and inventory control provide most exciting examples of control systems with delays. Here, Smith predictors, model-free control and new time series forecasting techniques are mixed in order to derive an efficient…
Recent advances in distribution-level phasor measurement unit (D-PMU) technology have enabled the use of voltage phase angle measurements for direct load sharing control in distribution-level microgrid interconnections with high penetration…
In this paper, we characterize the effects of turning and merging maneuvers of connected and/or automated vehicles (CAVs or AVs) on network traffic instability using the macroscopic or network fundamental diagram (MFD or NFD). We revisit…
Combinations of Gramian-based centrality measures are used for driver node selection in complex networks in order to simultaneously take into account conflicting control energy requirements, like minimizing the average energy needed to…
In multiagent dynamical systems, privacy protection corresponds to avoid disclosing the initial states of the agents while accomplishing a distributed task. The system-theoretic framework described in this paper for this scope, denoted…