Related papers: Fixed-point Based Hierarchical MPC Control Design …
This work presents the coordinated motion control and obstacle-crossing problem for the four wheel-leg independent motor-driven robotic systems via a model predictive control (MPC) approach based on an event-triggering mechanism. The…
Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…
We simulate the current-voltage relation of short layered superconductors, which we model as stacks of capacitively coupled Josephson junctions. The system is driven by external laser fields, in order to optically control the voltage drop…
Today's control systems are often characterized by modularity and safety requirements to handle complexity, resulting in hierarchical control structures. Although hierarchical model predictive control offers favorable properties, achieving…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…
A 1D Josephson junction loop, doped with a spin-flipper and attached to two thermal reservoirs, operates as a heat engine or a refrigerator, a Joule pump, or even a cold pump. When operating as a quantum heat engine, the efficiency of this…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
This article proposes a distributed secondary control scheme that drives a dc microgrid to an equilibrium point where the generators share optimal currents, and their voltages have a weighted average of nominal value. The scheme does not…
In this paper, we propose a model predictive control based operation strategy that allows for power exchange between interconnected microgrids. Particularly, the approach ensures that each microgrid benefits from power exchange with others.…
Model Predictive Control (MPC) method is a class of advanced control techniques most widely applied in industry. The major advantages of the MPC are its straightforward procedure which can be applied for both linear and nonlinear system.…
This paper presents a physics-based model for the threshold voltage in bulk MOSFETs valid from room down to cryogenic temperature (4.2 K). The proposed model is derived from Poisson's equation including bandgap widening, intrinsic…
Considering the potential of thermostatically controlled loads (TCLs) to provide flexibility in demand response or load control, a semi-Markov model (SMM) for the ON/OFF controlled TCL is developed in this paper. This model makes full use…
In this paper we propose a model predictive control scheme for constrained fractional-order discrete-time systems. We prove that all constraints are satisfied at all time instants and we prescribe conditions for the origin to be an…
This paper proposes a novel tube-based Model Predictive Control (MPC) framework for tracking varying setpoint references with linear systems subject to additive and multiplicative uncertainties. The MPC controllers designed using this…
We propose cyclic quantum refrigeration in solid-state, employing a gas of magnetic field vortices in a type-II superconductor -- also known as fluxons -- as the cooling agent. Refrigeration cycles are realized by envisioning a racetrack…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
This paper presents an improved droop control method to ensure effective power sharing, voltage regulation, and frequency stabilization of inverter-based resources (IBRs) connected in parallel in an islanded AC microgrid. In the…
A prevailing trend in the stabilization of port-Hamiltonian systems is the assumption that the plant and the controller are both passive. In the standard approach of control by interconnection based on the generation of Casimir functions,…
This paper presents scalable controller synthesis methods for heterogeneous and partially heterogeneous systems. First, heterogeneous systems composed of different subsystems that are interconnected over a directed graph are considered.…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…