Related papers: On Pole-Zero Assignment of Vibratory Systems by Mu…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
This paper investigates the visual servoing problem for robotic systems with uncertain kinematic, dynamic, and camera parameters. We first present the passivity properties associated with the overall kinematics of the system, and then…
We propose an all-electronic technique to manipulate and control interacting quantum systems by unitary single-jump feedback conditioned on the outcome of a capacitively coupled electrometer and in particular a single-electron transistor.…
This paper addresses the resilience of large-scale closed-loop structured systems in the sense of arbitrary pole placement when subject to failure of feedback links. Given a structured system with input, output, and feedback matrices, we…
The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…
An adaptive parametric reduced-order modeling method based on interpolating poles of reduced-order models is proposed in this paper. To guarantee correct interpolation, a pole-matching process is conducted to determine which poles of two…
We investigate coordinated regularized zero-forcing precoding for limited feedback multicell multiuser multiple-input single-output systems. We begin by deriving an approximation to the expected signal-to-interference-plus-noise ratio for…
The drive for efficiency and safety in construction has boosted the role of robotics and automation. However, complex tasks like welding and pipe insertion pose challenges due to their need for precise adaptive force control, which…
Performing a large volume of experiments in Chemistry labs creates repetitive actions costing researchers time, automating these routines is highly desirable. Previous experiments in robotic chemistry have performed high numbers of…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
The paper presents a distinctive and straightforward technique for stabilization of multi-variable systems. The idea is to decouple the system state matrix depending on different inputs and outputs. Refined special canonical transformations…
This paper presents a numerically robust approach to multi-band disturbance rejection using an iterative Youla-Kucera parameterization technique. The proposed method offers precise control over shaping the frequency response of a feedback…
A multi-pole, multi-zero design allowed realizing a "true" phase-shifter (not time-delayer) of flat frequency-response over more than 3 decades (30Hz-100kHz), which can be extended to higher frequencies or broader bands thanks to a modular…
We elaborate on a metamorphic approach for testing industrial control systems. The proposed approach consists of two phases: an exploration phase in which we learn about fault patterns of the system under test and an exploitation phase…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
This paper develops a reinforcement learning (RL)approach to solve a cooperative, multi-agent Volt-Var Control (VVC) problem for high solar penetration distribution systems. The ingenuity of our RL method lies in a novel two-stage…
We discuss the feedback control problem for a two-dimensional two-phase Stefan problem. In our approach, we use a sharp interface representation in combination with mesh-movement to track the interface position. To attain a feedback…
Existing pose estimation approaches fall into two categories: single-stage and multi-stage methods. While multi-stage methods are seemingly more suited for the task, their performance in current practice is not as good as single-stage…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…