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Cluster synchronization is of paramount importance for the normal functioning of numerous technological and natural systems. Deviations from normal cluster synchronization patterns are closely associated with various malfunctions, such as…
Low-frequency oscillations are an inherent phenomena in transmission networks and renewable energy plants should be configured to damp them. Commonly, a centralised controller is used in PV plants to coordinate PV generators via…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
In this paper, we propose a dynamic delayed feedback control approach for desynchronization of chaotic-bursting synchronous activities in an ensemble of globally coupled neuronal oscillators. We demonstrate that the difference signal…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Oscillatory activity is ubiquitous in natural and engineered network systems. The interaction scheme underlying interdependent oscillatory components governs the emergence of network-wide patterns of synchrony that regulate and enable…
We study the problem of robust global synchronization of pulse-coupled oscillators (PCOs) over directed graphs. It is known that when the digraphs are strongly connected, global synchronization can be achieved by using a class of…
The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…
This dissertation proposes two solutions for urban traffic control in the presence of connected and automated vehicles. First a centralized platoon-based controller is proposed for the cooperative intersection management problem that takes…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
An ensemble of uncoupled limit-cycle oscillators receiving common Poisson impulses shows a range of non-trivial behavior, from synchronization, desynchronization, to clustering. The group behavior that arises in the ensemble can be…
This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive…
This paper considers the distributed sampled-data control problem of a group of mobile robots connected via distance-induced proximity networks. A dwell time is assumed in order to avoid chattering in the neighbor relations that may be…
We study dynamical decoupling in a multi-qubit setting, where it is combined with quantum logic gates. This is illustrated in terms of computation using Heisenberg interactions only, where global decoupling pulses commute with the…
We explore the behaviour of chaotic oscillators in hierarchical networks coupled to an external chaotic system whose intrinsic dynamics is dissimilar to the other oscillators in the network. Specifically, each oscillator couples to the…
Kuramoto model is one of the most prominent models for the synchronization of coupled oscillators. It has long been a research hotspot to understand how natural frequencies, the interaction between oscillators, and network topology…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…