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Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has…
Model identification of battery dynamics is a central problem in energy research; many energy management systems and design processes rely on accurate battery models for efficiency optimization. The standard methodology for battery…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…
This paper investigates the problem of data-driven stabilization for linear discrete-time switched systems with unknown switching dynamics. In the absence of noise, a data-based state feedback stabilizing controller can be obtained by…
Grid-forming, particularly those utilizing droop control and virtual synchronous generators (VSG), can actively regulate the frequency and voltage of microgrid systems, exhibiting dynamic characteristics akin to those of synchronous…
The integration of renewables gradually replaces the traditional power plants, and this makes that the rotational inertia provided by the power plants is decreasing with time. Virtual inertia emulated by power electronic devices is becoming…
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…
This paper proposes a drive train topology with a dynamically reconfigurable dc battery, which breaks hard-wired batteries into smaller subunits. It can rapidly control the output voltage and even contribute to voltage shaping of the…
In inverse optimal control, the optimality of a given feedback stabilizing controller is a byproduct of the choice of a meaningful, a posteriori defined, cost functional. This allows for a simple tuning comparable to linear quadratic…
This paper investigates the performance of a microgrid with droop-controlled inverters in terms of the total power losses incurred in maintaining synchrony under persistent small disturbances. The inverters are modeled with variable…
Smart inverters have been advocated as a fast-responding mechanism for voltage regulation in distribution grids. Nevertheless, optimal inverter coordination can be computationally demanding, and preset local control rules are known to be…
This paper presents two methods for implementing complex-valued sliding mode controllers in three-phase power converters. The paper includes the description of the algorithms and a detailed analysis of the proposed implementations. The…
This paper addresses the problem of controlling a variable-speed wind turbine with a Doubly Fed Induction Generator (DFIG), modeled as an electromechanically-coupled nonlinear system with rotor voltages and blade pitch angle as its inputs,…
This paper is primarily studying the behaver of the twin-accumulator suspension over the conventional passive system focusing on ride quality behavior and road holding. Therefore, a dynamic modeling of passive and twin-accumulator…
Low-frequency oscillations remain a major challenge in bulk power systems with high renewable penetration, long lines, and large loads. Existing damping strategies based on power modulation of high voltage DC (HVDC) or energy storage, are…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…
The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning…