Related papers: An Improved Active Disturbance Rejection Control f…
Laser power instability, encompassing random jitter and slow drift, severely limits the performance of optically pumped magnetometers (OPMs) in detecting ultra-weak magnetic fields, especially in large-scale OPM arrays for…
Motion control of flexible joint robots (FJR) is challenged by inherent flexibility and configuration-dependent variations in system dynamics. While disturbance observers (DOB) can enhance system robustness, their performance is often…
In today's literature "Model-Free Control," or MFC, and "Active Disturbance Rejection Control," or ADRC, are the most prominent approaches in order to keep the benefits of PID controllers, that are so popular in the industrial world, and in…
The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…
Inverse Optimal Control (IOC) seeks to recover an unknown cost from expert demonstrations, and it provides a systematic way of modeling experts' decision mechanisms while considering the prior information of the cost functions.…
This paper presents a new integrated sensing and communication (ISAC) framework, leveraging the recent advancements of reconfigurable distributed antenna and reflecting surface (RDARS). RDARS is a programmable surface structure comprising…
Complex droop control, alternatively known as dispatchable virtual oscillator control (dVOC), stands out for its unique capabilities in synchronization and voltage stabilization among existing control strategies for grid-forming converters.…
We introduce a new class of optimal-transport-regularized divergences, $D^c$, constructed via an infimal convolution between an information divergence, $D$, and an optimal-transport (OT) cost, $C$, and study their use in distributionally…
Asymptotic disturbance rejection (equivalently tracking) for nonlinear systems has been studied only in qualitative terms (the state is asymptotically stable under bounded disturbances). We show how to prove quantitative performance…
Fixed low-resolution Analog to Digital Converters (ADC) help reduce the power consumption in millimeter-wave Massive Multiple-Input Multiple-Output (Ma-MIMO) receivers operating at large bandwidths. However, they do not guarantee optimal…
Integrated sensing and communication (ISAC) boosts network efficiency by using existing resources for diverse sensing applications. In this work, we propose a cell-free massive MIMO (multiple-input multiple-output)-ISAC framework to detect…
This paper introduces Inverse Distributionally Robust Optimization (I-DRO) as a method to infer the conservativeness level of a decision-maker, represented by the size of a Wasserstein metric-based ambiguity set, from the optimal decisions…
With the increasing penetration of renewable energy resources, power systems face new challenges in balancing power supply and demand and maintaining the nominal frequency. This paper studies load control to handle these challenges. In…
A core challenge in physical-layer security is the difficulty of obtaining the channel state information (CSI) of potential eavesdroppers. The inherent sensing functionality of integrated sensing and communication (ISAC) systems offers a…
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
Integrated sensing, communication, and control (ISCC) has emerged as a key enabler for low-altitude wireless networks with enhanced adaptability through resource allocation co-design and intelligent environment awareness. However, dynamic…
Nyquist criterion-based impedance ratio criteria (IRCs) have been widely applied for inspecting the risk of small-signal instability among converter-based AC power systems. Aided by a comparative study on voltage source converter, including…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
Inverse Optimal Control (IOC) is a powerful framework for learning a behaviour from observations of experts. The framework aims to identify the underlying cost function that the observed optimal trajectories (the experts' behaviour) are…