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In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
Magnetometer is a significant sensor for integrated navigation. However, it suffers from many kinds of unknown dynamic magnetic disturbances. We study the problem of online estimating such disturbances via a nonlinear optimization aided by…
The recently proposed sequential distributed detector based on level-triggered sampling operates as simple as the decision fusion techniques and at the same time performs as well as the data fusion techniques. Hence, it is well suited for…
We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…
Recent interest in networked control systems (NCS) has instigated research in both communication networks and control. Analysis of NCSs has usually been performed from either the network or the control point of view, but not many papers…
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage…
This article presents a distributed model-predictive control (MPC) design for real-time voltage control in power systems, including an online method to estimate the bus admittance matrix $\mathbf{Y}$ to let it be time-varying and unknown a…
In this paper we introduce a Leader-follower consensus protocol and study its stability properties with and without communication delays. On the practical side, we explore its application on coordinating a group of wind Double-Fed Induction…
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…
The systems monitoring the location of public transport vehicles rely on wireless transmission. The location readings from GPS-based devices are received with some latency caused by periodical data transmission and temporal problems…
The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems (a.k.a. network systems). To this end, we start by putting forth a novel distributed event-triggering transmission…
Max weighted queue (MWQ) control policy is a widely used cross-layer control policy that achieves queue stability and a reasonable delay performance. In most of the existing literature, it is assumed that optimal MWQ policy can be obtained…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
In this paper, model predictive control (MPC) strategies are proposed for dead-beat control of linear systems with and without state and control constraints. In unconstrained MPC, deadbeat performance can be guaranteed by setting the…
We design fixed-order strong H-infinity controllers for general time-delay systems. The designer chooses the controller order and may introduce constant time-delays in the controller. We represent the closed-loop system of the plant and the…
Future wireless networks must deliver deterministic end-to-end delays for workloads such as smart-factory control loops. On Ethernet these guarantees are delivered by the set of tools within IEEE 802.1 time sensitive networking~(TSN)…
In this paper the following three control systems for first-order time-delay plants are studied and compared: the feedback proportional-integral controller (PI), the Smith Predictor (SP) and a proposed variable structure consisting of two…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
Distribution networks with high penetration of Distributed Energy Resources (DERs) increasingly rely on communication networks to coordinate grid-interactive control. While many distributed control schemes have been proposed, they are often…
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error automated driving loop to handle uncertain parameters such…