Related papers: Matched disturbance rejection for energy-shaping c…
We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
In this paper we consider time-optimal control problems for systems with backlash. Such systems are described by second order differential equations coupled with restrictions modeling the inelastic shocks. A main feature of such systems is…
Interactions between power and gas systems, which are both large and complex, have been gradually intensified during the last decades, predominantly due to the propagation of large fleet natural gas-fired power units (GPUs) and the…
Reliable and secure operation of power systems becomes increasingly challenging as the share of volatile generation rises, leading to largely changing dynamics. Typically, the architecture and structure of controllers in power systems, such…
We propose the use of controlled perturbations to address the challenging question of optimal active-set prediction for interior point methods. Namely, in the context of linear programming, we consider perturbing the inequality…
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
The increasing integration of power electronic devices is driving the development of more advanced tools and methods for the modeling, analysis, and control of modern power systems to cope with the different time-scale oscillations. In this…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
Recently, alternating transition systems are adopted to describe control systems with disturbances and their finite abstract systems. In order to capture the equivalence relation between these systems, a notion of alternating approximate…
In this paper, distributed energy management of interconnected microgrids, which is stated as a dynamic economic dispatch problem, is studied. Since the distributed approach requires cooperation of all local controllers, when some of them…
The traditional goal of inverse self-assembly is to design interactions that drive particles toward a desired target structure. However, achieving successful self-assembly also requires tuning the thermodynamic conditions under which the…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…
We combine the ideas of atomistic/continuum energy blending and ghost force correction to obtain an energy-based atomistic/continuum coupling scheme which has, for a range of benchmark problems, the same convergence rates as optimal…
Based on equivalent-dynamic-linearization model (EDLM), we propose a kind of model predictive control (MPC) for single-input and single-output (SISO) nonlinear or linear systems. After compensating the EDLM with disturbance for…