Systems and Control
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
We propose a novel generalized cellular automaton(GCA) model for discrete-time pulse-coupled oscillators and study the emergence of synchrony. Given a finite simple graph and an integer $n\ge 3$, each vertex is an identical oscillator of…
Studies regarding the computation of Optimal Control Problems (OCPs) with terminal inequality constraint, under the frame of the Variation Evolving Method (VEM), are carried out. The attributes of equality constraints and inequality…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
The positive-real and bounded-real lemmas solve two important linear-quadratic optimal control problems for passive and non-expansive systems, respectively. The lemmas assume controllability, yet a passive or non-expansive system can be…
It is a significant and longstanding puzzle that the resistor, inductor, capacitor (RLC) networks obtained by the established RLC realization procedures appear highly non-minimal from the perspective of linear systems theory. Specifically,…
We present two linked theorems on passivity: the passive behavior theorem, parts 1 and 2. Part 1 provides necessary and sufficient conditions for a general linear system, described by a set of high order differential equations, to be…
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a…
This paper proposes a new distributed control architecture for distributed generation units in heterogeneous DC islanded microgrids. Each unit is equipped with state-feedback baseline and augmenting $\mathcal{L}_1$ adaptive voltage…
With the time-varying renewable energy generation and power demand, microgrids (MGs) exchange energy in smart grids to reduce their dependence on power plants. In this paper, we formulate an MG energy trading game, in which each MG trades…
Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has…
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no…
We study a problem of information gathering in a social network with dynamically available sources and time varying quality of information. We formulate this problem as a restless multi-armed bandit (RMAB). In this problem, information…
This paper introduces a novel constraint adaptive filtering algorithm based on a relative logarithmic cost function which is termed as Constrained Least Mean Logarithmic Square (CLMLS). The proposed CLMLS algorithm elegantly adjusts the…
This paper pertains to the analysis and design of decentralized estimation schemes that make use of limited communication. Briefly, these schemes equip the sensors with scalar states that iteratively merge the measurements and the state of…
Medium voltage direct-current based integrated power system is projected as one of the solutions for powering the all-electric ship. It faces significant challenges for accurately energizing advanced loads, especially the pulsed power load,…
"Dynamic compensation" is a robustness property where a perturbed biological circuit maintains a suitable output [Karin O., Swisa A., Glaser B., Dor Y., Alon U. (2016). Mol. Syst. Biol., 12: 886]. In spite of several attempts, no fully…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
When nodes in a mobile network use relative noisy measurements with respect to their neighbors to estimate their positions, the overall connectivity and geometry of the measurement network has a critical influence on the achievable…
This paper deals with the implementation of the extended robust Kalman filter (ERKF) which was developed considering uncertainties in the parameter matrices of the underlying state-space model. A key contribution of this work is the…