Related papers: Safety during Transient Response in Direct Current…
Due to the rise of distributed energy resources, the control of networks of grid-forming inverters is now a pressing issue for power system operation. Droop control is a popular control strategy in the literature for frequency control of…
We address the problem of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without any explicit traffic signaling, so as to minimize energy consumption subject to a throughput maximization…
Grid-connected power converters encounter significant stability challenges during weak grid faults, when conventional PI-based controllers exhibit an oscillatory response and poor fault-ride-through performance. This paper addresses this…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fields, they can suffer from the stable spurious equilibrium…
DC power generation is an emerging trend and has been preferred due to its low cost and low in system power losses within local distribution grid. The theme of this paper is the indigenous design of a DC standalone micro grid which will…
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers…
VSG control has emerged as a crucial technology for integrating renewable energy sources. However, renewable energy have limited tolerance to overcurrent, necessitating the implementation of current limiting (CL)strategies to mitigate the…
This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…
We consider the problem of stabilizing voltages in DC microGrids (mGs) given by the interconnection of Distributed Generation Units (DGUs), power lines and loads. We propose a decentralized control architecture where the primary controller…
As a new type of microgrid structure, AC-DC hybrid microgrid can efficiently consume new energy distributed generator based on photovoltaics, which is very suitable for microgrid systems with electric vehicles as the main load. Unlike the…
In this letter we propose an optimization-based boundary controller for traffic flow dynamics capable of achieving both stability and invariance conditions. The approach is based on the definition of Boundary Control Barrier Functionals,…
We consider the problem of designing controllers to guarantee safety in a class of nonlinear systems under uncertainties in the system dynamics and/or the environment. We define a class of uncertain control barrier functions (CBFs), and…
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety…
Modern low-carbon power systems come with many challenges, such as increased inverter penetration and increased uncertainty from renewable sources and loads. In this context, the microgrid concept is a promising approach, which is based on…
This paper presents two new control approaches for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…
Inverter-based distributed energy resources facilitate the advanced voltage control algorithms in the online setting with the flexibility in both active and reactive power injections. A key challenge is to continuously track the…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…