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In this paper we consider a linear system structured into physically coupled subsystems and propose a decentralized control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. The…
Hybrid microgrids integrating Grid-Following (GFL) and Grid-Forming (GFM) inverters present complex control challenges arising from the decoupling between long-term economic dispatch and real-time dynamic regulation, as well as the distinct…
This paper investigates the frequency control of multi-machine power systems subject to uncertain and dynamic net loads. We propose distributed internal model controllers that coordinate synchronous generators and demand response to tackle…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
In railway applications, it is common to use an LC filter connected between the catenary and the input port of the main converter of the auxiliary and traction systems. In addition, in the auxiliary systems, there is a converter operating…
The present paper proposes a novel broadcast control (BC) law for multi-agent coordination. A BC framework has been developed to achieve global coordination tasks with low communication volume. The BC law uses broadcast communication, which…
With the emergence of low-inertia microgrids powered by inverter-based generation, there remains a concern about the operational resilience of these systems. Grid-forming inverters (GFMs), enabled by various device-level (primary) and…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
Affine Body Dynamics (ABD) within the Incremental Potential Contact (IPC) framework provides accurate simulation of extremely stiff solids exhibiting near-rigid behavior, with strict non-penetration guarantees. However, IPC's globally…
The position-based dynamics (PBD) algorithm is a popular and versatile technique for real-time simulation of deformable bodies, but is only applicable to forces that can be expressed as linearly compliant constraints. In this work, we…
The recently introduced discrete power-based control (Ruderman (2024b)) reduces largely the communication efforts in the control loop when compensating for the marginally damped or even slowly diverging output oscillations. The control…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
Complex mechanical systems such as vehicle powertrains are inherently subject to multiple nonlinearities and uncertainties arising from parametric variations. Modeling errors are therefore unavoidable, making the transfer of control systems…
Model Predictive Control (MPC) is a versatile approach capable of accommodating diverse control requirements that holds significant promise for a broad spectrum of industrial applications. Noteworthy challenges associated with MPC include…
This paper investigates the potential of wind turbine generators (WTGs) and load aggregators (LAs) to provide supplementary damping control services for low frequency inter-area oscillations (LFOs) through the additional distributed damping…
In this paper we introduce a new notion of passivity which we call Krasovskii's passivity and provide a sufficient condition for a system to be Krasovskii's passive. Based on this condition, we investigate classes of port-Hamiltonian and…
A model predictive control (MPC) method for enhancing post-fault transient stability of a grid-forming (GFM) inverter based resources (IBRs) is developed in this paper. This proposed controller is activated as soon as the converter enters…
Modern power systems increasingly demand converter-driven generation systems that integrate seamlessly with grid infrastructure. Grid-based converters are particularly advantageous, as they operate in harmony with conventional synchronous…
Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…