Related papers: Achieving increased Phasor POD performance by intr…
Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error…
To mitigate dissipative effects from environmental interactions and efficiently stabilize quantum states, time-optimal control has emerged as an effective strategy for open quantum systems. This paper extends the framework by incorporating…
We propose a performance-based autotuning method for cascade control systems, where the parameters of a linear axis drive motion controller from two control loops are tuned jointly. Using Bayesian optimization as all parameters are tuned…
We propose a model predictive control (MPC) scheme with sampled-data input which ensures output-reference tracking within prescribed error bounds for relative-degree-one systems. Hereby, we explicitly deduce bounds on the required maximal…
Kalman filtering is a classic state estimation technique used in application areas such as signal processing and autonomous control of vehicles. It is now being used to solve problems in computer systems such as controlling the voltage and…
Frequency response optimized integrators considering second order derivative are proposed in this paper. Based on the proposed numerical integrators, and others which also consider second order derivative, this paper puts forward a novel…
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…
The random demodulator is a recent compressive sensing architecture providing efficient sub-Nyquist sampling of sparse band-limited signals. The compressive sensing paradigm requires an accurate model of the analog front-end to enable…
In this paper, we consider the filtering problem of an optical parametric oscillator (OPO). The OPO pump power may fluctuate due to environmental disturbances, resulting in uncertainty in the system modeling. Thus, both the state and the…
Power systems dominated by converter-interfaced distributed energy resources (DERs) typically exhibit weaker damping capabilities and lower inertia, compromising system stability. Although individual DER controllers are evolving to provide…
Grid-following (GFL) inverters are commonly used for integrating renewable energy sources into power grids. However, the dynamic performance of GFL models can be significantly impacted by the Phase-Locked Loop (PLL) in a weak grid, leading…
Motion planning for autonomous vehicles requires spatio-temporal motion plans (i.e. state trajectories) to account for dynamic obstacles. This requires a trajectory tracking control process which faithfully tracks planned trajectories. In…
Accurately capturing the nonlinear dynamic behavior of structures remains a significant challenge in mechanics and engineering. Traditional physics-based models and data-driven approaches often struggle to simultaneously ensure model…
In this thesis, advanced design technique in sliding mode control (SMC) is presented with focus on PID (Proportional-Integral-Derivative) type Sliding surfaces based Sliding mode control with improved power rate exponential reaching law for…
A new adaptive predictive controller for constrained linear systems is presented. The main feature of the proposed controller is the partition of the input in two components. The first part is used to persistently excite the system, in…
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the…
Phasor Measurement Units (PMUs) convert high-speed waveform data into low-speed phasor data, which are fundamental to wide-area monitoring and control in power systems, with oscillation detection and localization among their most prominent…
Many real-world systems modeled using differential equations involve unknown or uncertain parameters. Standard approaches to address parameter estimation inverse problems in this setting typically focus on estimating constants; yet some…
This letter proposes a simple and inexpensive technique to improve the frequency control of distributed energy resources. The proposed control consists in modifying the conventional estimated bus frequency signal with an additional feedback…