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This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
Minimum-fuel low-thrust rendezvous guidance yields bang-bang control structures highly sensitive to estimation errors, sensor anomalies, and solver regularization, making aggressive closed-loop execution brittle for uncooperative proximity…
In this study, we explore an overdamped system of a dimer in a bistable potential immersed in a heat bath. The monomers interact via the combination of the Lennard-Jones potential and the harmonic potential. We have introduced a short-range…
We obtain phase diagrams of regular and irregular finite connectivity spin-glasses. Contact is firstly established between properties of the phase diagram and the performances of low density parity check codes (LDPC) within the Replica…
Accurate terminal-voltage prediction underpins model-based battery management, yet low-order equivalent-circuit models (\ecm{}) lack expressiveness under transient conditions, whereas purely data-driven predictors sacrifice interpretability…
Multi-carrier modulation techniques have now become a standard in many communication protocols. Filter bank based multi-carrier (FBMC) generation techniques have been discussed in the literature as a means for overcoming the shortcomings of…
Battery energy storage boosts up the response speed of power system frequency regulation, but must be recharged carefully to minimize the distortion to the frequency regulation response. This paper proposes a nonlinear feedback controller…
We explore how Demand Response (DR) can effectively provide electricity system services such as for the management of bi-directional power flows and the control of voltage deviations in active distribution networks, without compromising…
This paper presents a solution to address wear and tear of Run-of-River (RoR) Hydropower Plants (HPPs) providing enhanced Frequency Containment Reserve (FCR). In this respect, the study proposes the integration of a Battery Energy Storage…
As the integration of renewable energy generation increases and as conventional generation is phased out, there is a gradual decline in the grid's strength and resilience at the connection point of wind turbines (WTs). Previous studies have…
This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Advanced reactors to be deployed in the coming decades will face deregulated energy markets, and may adopt flexible operation to boost profitability. To aid in the transition from baseload to flexible operation paradigm, autonomous…
This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a…
In this manuscript, we present a high-fidelity physics-based truth model of a Single Machine Infinite Bus (SMIB) system. We also present reduced-order control-oriented nonlinear and linear models of a synchronous generator-turbine system…
This study presents the design, simulation, and experimental validation of a novel multimodal concentric surface coil for MR imaging, developed to achieve higher B1 field efficiency while maintaining low SAR for enhanced imaging…
The rising energy demands of machine learning (ML), e.g., implemented in popular variants like retrieval-augmented generation (RAG) systems, have raised significant concerns about their environmental sustainability. While previous research…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…
This paper establishes a sufficient condition for guaranteeing power flow solvability in distribution grids with inverter-based resources (IBRs) operating under IEEE 1547 compliant Volt-Var control. While designed to improve voltage…