Systems and Control
In this paper, we formulate a virtual target-based path following guidance law aimed towards multi-vehicle path following problem. The guidance law is well suited to precisely follow circular paths while minting desired distance between two…
Artificial agents will need to be aware of human moral and social norms, and able to use them in decision-making. In particular, artificial agents will need a principled approach to managing conflicting norms, which are common in human…
In this paper, we propose a secondary consensus-based control layer for current sharing and voltage balancing in DC microGrids (mGs). To this purpose, we assume that Distributed Generation Units (DGUs) are equipped with decentralized…
We present an algorithm for synthesising a controller (supervisor) for a discrete event system (DES) based on the property-directed reachability (PDR) model checking algorithm. The discrete event systems framework is useful in both…
In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…
Cyclic pursuit frameworks, which are built upon pursuit interactions between neighboring agents in a cycle graph, provide an efficient way to create useful global behaviors in a collective of autonomous robots. Previous work had considered…
Grid-interactive power converters are normally synchronized to the grid using phase-locked loops (PLLs). The performance of the PLLs is affected by the non-ideal conditions in the sensed grid voltage such as harmonics, frequency deviations…
This paper studies the distributed state estimation problem for a class of discrete time-varying systems over sensor networks. Firstly, it is shown that a networked Kalman filter with optimal gain parameter is actually a centralized filter,…
We consider a class of piecewise-deterministic Markov processes where the state evolves according to a linear dynamical system. This continuous time evolution is interspersed by discrete events that occur at random times and change (reset)…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
In this article an automation system for human-machine-interfaces (HMI) for setpoint adjustment using supervised learning is presented. We use HMIs of multi-modal thermal conditioning systems in passenger cars as example for a complex…
This paper proposes a system-wide optimal resource dispatch strategy that enables a shift from a primarily energy cost-based approach, to a strategy using simultaneous price signals for energy, power and ramping behavior. A formal method to…
In this paper, an open-source MATLAB toolbox is presented that is able to generate synthetic, combined transmission and distribution network models. These can be used to analyse the interactions between transmission and multiple…
Frequency is an important
This work targets the problem of odor source localization by multi-agent systems. A hierarchical cooperative control has been put forward to solve the problem of locating source of an odor by driving the agents in consensus when at least…
The growing proliferation of microgrids and distributed energy resources in distribution networks has resulted in the development of Distribution Market Operator (DMO). This new entity will facilitate the management of the distributed…
This paper presents a novel approach for stability and transparency analysis for bilateral teleoperation in the presence of data loss in communication media. A new model for data loss is proposed based on a set of periodic continuous pulses…
Periodic event-triggered control (PETC) is a version of event-triggered control (ETC) that only requires to measure the plant output periodically instead of continuously. In this work, we present a construction of timing models for these…
The paper proposes a new adaptive approach to power system model reduction for fast and accurate time-domain simulation. This new approach is a compromise between linear model reduction for faster simulation and nonlinear model reduction…
Power grids are one of the most important components of infrastructure in today's world. Every nation is dependent on the security and stability of its own power grid to provide electricity to the households and industries. A malfunction of…