Related papers: Real Time Control and Performance Analysis of A Sm…
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…
This paper explores the analysis and implementation of the Virtual Oscillator Control (VOC) strategy for inverters aiming to enhance stability amidst the ever-increasing generation of renewable energy sources like solar PV. Key objectives…
This work investigates the use of digital twins for dynamical system modeling and control, integrating physics-based, data-driven, and hybrid approaches with both traditional and AI-driven controllers. Using a miniature greenhouse as a test…
With the transition towards a smart grid, Information and Communications Technology (ICT) infrastructures play a growing role in the operation of transmission systems. Cyber-physical systems are usually studied using co-simulation. The…
On-chip learning is key to scalable and adaptive neuromorphic systems, yet existing training methods are either difficult to implement in hardware or overly restrictive. However, recent studies show that feedback-control optimizers can…
We propose a synthesis method for the design of digital twins applicable to various systems (pneumatic, hydraulic, electrical/electronic circuits). The methodology allows representing the operation of these systems through an active digital…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
This paper presents a multi-agent control architecture and an online optimization method based on dynamic average consensus to coordinate the power consumption of a large population of Thermostatically Controlled Loads (TCLs). Our objective…
This paper describes a hierarchical control scheme for interconnected systems. The higher layer of the control structure is designed with robust Model Predictive Control (MPC) based on a reduced order dynamic model of the overall system and…
The Power Hardware-In-the-Loop (PHIL) technology provides a powerful tool for testing scenarios where there is a high-power interchange, in which the performance of field tests can be very complex or expensive. When performing PHIL…
Analog quantum simulation offers a hardware-specific approach to studying quantum dynamics, but mapping a model Hamiltonian onto the available device parameters requires matching the hardware dynamics. We introduce a paradigm for quantum…
This paper presents the experimental validation of a grid-aware real-time control method for hybrid AC/DC microgrids. The optimal control is leveraged by the voltage sensitivity coefficients (SC) that are computed analytically using the…
Robot learning empowers the robot system with human brain-like intelligence to autonomously acquire and adapt skills through experience, enhancing flexibility and adaptability in various environments. Aimed at achieving a similar level of…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was…
Hybrid systems are increasingly used in critical applications such as medical devices, infrastructure systems, and autonomous vehicles. Lince is an academic tool for specifying and simulating such systems using a C-like language with…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…
A pressing question when designing intelligent autonomous systems is how to integrate the various subsystems concerned with complementary tasks. More specifically, robotic vision must provide task-relevant information about the environment…