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Discrete-time Control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper, we provide an optimization-based algorithm,…
High penetration of distributed energy resources (DERs) is transforming the paradigm in power system operation. The ability to provide electricity to customers while the main grid is disrupted has introduced the concept of microgrids with…
This work develops a constraint-aware grid-forming (GFM) control that explicitly accounts for current limits and modulation limits within the GFM oscillator dynamics generating the GFM voltage reference (i.e., phase angle and magnitude).…
We consider the problem of designing learning-based reactive power controllers that perform voltage regulation in distribution grids while ensuring closed-loop system stability. In contrast to existing methods, where the provably stable…
A new strategy is proposed to control interior permanent magnet generators in dc microgrids interfaced through an active rectifier. The controller design is based on the decomposition of the system dynamics into slow and fast modes using…
In the field of microgrids with a significant integration of Renewable Energy Sources, the efficient and practical power storage systems requirement is causing DC microgrids to gain increasing attention. However, uncertainties in power…
Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
The paper focuses on the design of a control strategy for safety-critical remote teleoperation. The main goal is to make the controlled system track the desired velocity specified by an operator while avoiding obstacles despite…
In this paper, we implement an advanced safety filter to smoothly limit the current of an inverter-based Battery Energy Storage System. The task involves finding suitable Control Barrier Function and Control Lyapunov Function via…
The method for controlling a DC-DC converter is proposed to ensures the high quality control at large fluctuations in load currents by using differential gain control coefficients and second derivative control. Various implementations of…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
Integration of distributed energy resources has created a need for autonomous, dynamic voltage regulation. Decentralized Volt-VAr Control (VVC) of grid-connected inverters presents a unique opportunity for voltage management but, if…
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel…
Voltage control plays an important role in the operation of electricity distribution networks, especially with high penetration of distributed energy resources. These resources introduce significant and fast varying uncertainties. In this…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible in an online fashion. This paper…
Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…
This paper proposes a new convex model predictive control strategy for dynamic optimal power flow between battery energy storage systems distributed in an AC microgrid. The proposed control strategy uses a new problem formulation, based on…
Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using…
Control systems operating in the real world face countless sources of unpredictable uncertainties. These random disturbances can render deterministic guarantees inapplicable and cause catastrophic safety failures. To overcome this, this…