Systems and Control
Koopman operator is a composition operator defined for a dynamical system described by nonlinear differential or difference equation. Although the original system is nonlinear and evolves on a finite-dimensional state space, the Koopman…
The focus of this thesis is developing a framework for designing correct-by-construction controllers using control certificates. We use nonlinear dynamical systems to model the physical environment (plants). The goal is to synthesize…
This paper presents a stochastic, model predictive control (MPC) algorithm that leverages short-term probabilistic forecasts for dispatching and rebalancing Autonomous Mobility-on-Demand systems (AMoD, i.e. fleets of self-driving vehicles).…
This paper discusses the controllability problem of complex networks. It is shown that almost any weighted complex network with noise on the strength of communication links is controllable in the sense of Kalman controllability. The concept…
In order to decrease the steady-state error and reduce the computational complexity and increase the ability to identify a large unknown system, a convex combination of overlap-save frequency-domain adaptive filters (COSFDAF) algorithm is…
The learning speed of an adaptive algorithm can be improved by properly constraining the cost function of the adaptive algorithm. Besides, the stabilization of the NCLMF algorithm is more complicated, whose stability depends solely on the…
In this paper, we consider the problem of online identification of Switched AutoRegressive eXogenous (SARX) systems, where the goal is to estimate the parameters of each subsystem and identify the switching sequence as data are obtained in…
In this paper we addressed the cooperative transport problem for a team of autonomous surface vehicles (ASVs) towing a single buoyant load. We consider the dynamics of the constrained system and decompose the cooperative transport problem…
The quadrotor task of negotiating aggressive attitude maneuvers while adhering to motor constraints is addressed here. The majority of high level quadrotor Nonlinear Control System (NCS) solutions ignore motor control authority limitations,…
The problem of replay attacks in the communication network between Distributed Generation Units (DGUs) of a DC microgrid is examined. The DGUs are regulated through a hierarchical control architecture, and are networked to achieve secondary…
In the recent years, passivity theory has gained renewed attention because of its advantages and practicality in modeling of multi-domain systems and constructive control techniques. Unlike Lyapunov theory, passivity theory takes a…
In this paper, we derive new passive maps akin to incremental passive maps, for a class of nonlinear systems using dynamic feedback and Krasovskii's method. Further using the passive maps we present a control methodology for stabilization…
The aim of this paper is to study the convergence of the primal-dual dynamics pertaining to Support Vector Machines (SVM). The optimization routine, used for determining an SVM for classification, is first formulated as a dynamical system.…
Correct-by-construction techniques, such as control barrier functions (CBFs), can be used to guarantee closed-loop safety by acting as a supervisor of an existing or legacy controller. However, supervisory-control intervention typically…
Continuous Stirred Tank Reactors (CSTR) are the most important and central equipment in many chemical and biochemical industry that exhibit second order complex nonlinear dynamics. The nonlinear dynamics of CSTR poses many design and…
This paper studies physical consequences of unobservable false data injection (FDI) attacks designed only with information inside a sub-network of the power system. The goal of this attack is to overload a chosen target line without being…
A quantile is defined as a value below which random draws from a given distribution falls with a given probability. In a centralized setting where the cumulative distribution function (CDF) is unknown, the empirical CDF (ECDF) can be used…
The present paper deals with the identification of nonlinear mechanical vibrations. A grey-box, or semi-physical, nonlinear state-space representation is introduced, expressing the nonlinear basis functions using a limited number of…
A novel switching differentiator that has considerably simple form is proposed. Under the assumption that time-derivatives of the signal are norm-bounded, it is shown that estimation errors are convergent to the zeros asymptotically. The…
Game theory is a powerful analytical tool for modeling decision makers strategies, behaviors and interactions. Act and decisions of a decision maker can benefit or negatively impact other decision makers interests. Game theory has been…