Related papers: Sparse Control Synthesis for Uncertain Responsive …
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
In this paper, we investigate how to achieve the unpredictability against malicious inferences for linear systems. The key idea is to add stochastic control inputs, named as unpredictable control, to make the outputs irregular. The future…
In this paper, we study the maximum principle for stochastic optimal control problems of forward-backward stochastic difference systems (FBS{\Delta}Ss) where the uncertainty is modeled by a discrete time, finite state process, rather than…
Networked control systems (NCS) are widely used in safety-critical applications, but they are often analyzed under the assumption of ideal communication channels. This work focuses on the synthesis of safety controllers for discrete-time…
This paper is concerned with the maximum principle of stochastic optimal control problems, where the coefficients of the state equation and the cost functional are uncertain, and the system is generally under Markovian regime switching.…
This article considers the $\mathcal{H}_\infty$ static output-feedback control for linear time-invariant uncertain systems with polynomial dependence on probabilistic time-invariant parametric uncertainties. By applying polynomial chaos…
Optimally combining frequency control with self-consumption can increase revenues from battery storage systems installed behind-the-meter. This work presents an optimized control strategy that allows a battery to be used simultaneously for…
In this paper, we demonstrate the fragility of decentralized load-side frequency algorithms proposed in [1] against stochastic parametric uncertainty in power network model. The stochastic parametric uncertainty is motivated through the…
We consider the problem of designing a feedback controller for a multivariable linear time-invariant system which regulates an arbitrary system output to the solution of an equality-constrained convex optimization problem despite unknown…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…
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,…
We consider the problem of determining the optimal aggregate power consumption of a population of thermostatically controlled loads. This is motivated by the problem of synthesizing the demand response for a load serving entity (LSE)…
This work addresses maximally robust control synthesis under unknown disturbances. We consider a general nonlinear system, subject to a Signal Temporal Logic (STL) specification, and wish to jointly synthesize the maximal possible…
Distribution systems of the future smart grid require enhancements to the reliability of distribution system state estimation (DSSE) in the face of low measurement redundancy, unsynchronized measurements, and dynamic load profiles. Micro…
In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…
Load side participation can provide support to the power network by appropriately adapting the demand when required. In addition, it enables an economically improved power allocation. In this study, we consider the problem of providing an…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…