Systems and Control
It is well established that humans decision making and instrumental control uses multiple systems, some which use habitual action selection and some which require deliberate planning. Deliberate planning systems use predictions of…
In this paper we propose a new Koopman operator approach to the decomposition of nonlinear dynamical systems using Koopman Gramians. We introduce the notion of an input-Koopman operator, and show how input-Koopman operators can be used to…
This thesis presents the design, analysis, and validation of a hierarchical transactive control system that engages demand response resources to enhance the integration of renewable electricity generation resources. This control system…
A novel distributed energy allocation mechanism for Distribution System Operator (DSO) market through a bi-level iterative auction is proposed. With the locational marginal price at the substation node known, the DSO runs an upper level…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
In this paper, we study a day ahead double energy auction in a distribution system involving dispatchable generation units, renewable generation units supported by battery storage systems(BSSs), fixed loads, price responsive loads, and…
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…
We present an algorithm for steering the output of a linear system from a feasible initial condition to a desired target position, while satisfying input constraints and non-convex output constraints. The system input is generated by a…
In the last decade, the development of electric taxis has motivated rapidly growing research interest in efficiently allocating electric charging stations in the academic literature. To address the driving pattern of electric taxis, we…
Plug-in electric bus (PEB) is an environmentally friendly mode of public transportation and plug-in electric bus fast charging stations (PEBFCSs) play an essential role in the operation of PEBs. Under effective control, deploying an energy…
Many real-world systems are governed by the time-dependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control…
This paper considers a multiple stopping time problem for a Markov chain observed in noise, where a decision maker chooses at most L stopping times to maximize a cumulative objective. We formulate the problem as a Partially Observed Markov…
Research on assistive technology, rehabilitation, and prosthesis requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. This paper studies a nonlinear agonistic-antagonistic muscle…
In the last few decades, the development of miniature biological sensors that can detect and measure different phenomena at the nanoscale has led to transformative disease diagnosis and treatment techniques. Among others, biofunctional…
Large scale power failures induced by severe weather have become frequent and damaging in recent years, causing millions of people to be without electricity service for days. Although the power industry has been battling weather-induced…
This work proposes a solution for the longitudinal and lateral control problem of urban autonomous vehicles using a gain scheduling LPV control approach. Using the kinematic and dynamic vehicle models, a linear parameter varying (LPV)…
With the rapid adoption of distributed photovoltaics (PVs) in certain regions, issues such as lower net load valley during the day and more steep ramping of the demand after sunset start to challenge normal operations at utility companies.…
We present FRAPpuccino (or FRAP), a provenance-based fault detection mechanism for Platform as a Service (PaaS) users, who run many instances of an application on a large cluster of machines. FRAP models, records, and analyzes the behavior…
The work presented here addresses the issue of tuning PD controllers for controlling integrating plus dead-time (IPDT) processes using settling time and gain and phase margin specifications. Tuning formulae are derived for PD controller…