Related papers: A Modified Schur Method for Robust Pole Assignment…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
Structured statistical estimation problems are often solved by Conditional Gradient (CG) type methods to avoid the computationally expensive projection operation. However, the existing CG type methods are not robust to data corruption. To…
The Schur decomposition of a square matrix $A$ is an important intermediate step of state-of-the-art numerical algorithms for addressing eigenvalue problems, matrix functions, and matrix equations. This work is concerned with the following…
In this paper, a new polynomial chaos based framework for analyzing linear systems with probabilistic parameters is presented. Stability analysis and synthesis of optimal quadratically stabilizing controllers for such systems are presented…
Model predictive control (MPC) is a powerful control method that handles dynamical systems with constraints. However, solving MPC iteratively in real time, i.e., implicit MPC, remains a computational challenge. To address this, common…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
The implementation of a combination of continuous weak measurement and classical feedback provides a powerful tool for controlling the evolution of quantum systems. In this work, we investigate the potential of this approach from three…
For uncertainty propagation of highly complex and/or nonlinear problems, one must resort to sample-based non-intrusive approaches [1]. In such cases, minimizing the number of function evaluations required to evaluate the response surface is…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
This paper presents the development of a mathematical model of a converter state space model for a hybrid microgrid. The hybrid model combines the models of components such as DC-Converters, DC-AC converters, and their individual…
This paper derives closed-form solutions for grid-forming converters with power synchronization control (PSC) by subtly simplifying and factorizing the complex closed-loop models. The solutions can offer clear analytical insights into…
We establish a collection of closed-loop guarantees and propose a scalable optimization algorithm for distributionally robust model predictive control (DRMPC) applied to linear systems, convex constraints, and quadratic costs. Via standard…
This paper proposes a novel robust model predictive control (RMPC) method for the stabilization of constrained systems subject to additive disturbance (AD) and multiplicative disturbance (MD). Concentric containers are introduced to…
This work presents a sum-of-squares (SOS) based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by L-infinity bounded input,…
This paper proposes a robust learning methodology to place the closed-loop poles in desired convex regions in the complex plane. We considered the system state and input matrices to be unknown and can only use the measurements of the system…
This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
We provide some new necessary and sufficient conditions which guarantee arbitrary pole placement of a particular linear system over the complex numbers. We exhibit a non-trivial real linear system which is not controllable by real static…
Security-constrained unit commitment (SCUC) model is used for power system day-ahead scheduling. However, current SCUC model uses a static network to deliver power and meet demand optimally. A dynamic network can provide a lower optimal…