Related papers: Distributed Transient Safety Verification via Robu…
For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…
Ensuring constraint satisfaction is a key requirement for safety-critical systems, which include most robotic platforms. For example, constraints can be used for modeling joint position/velocity/torque limits and collision avoidance.…
In this paper, we address the problem of safety verification of nonlinear hybrid systems. A hybrid symbolic-numeric method is presented to compute exact inequality invariants of hybrid systems efficiently. Some numerical invariants of a…
Distribution grids currently lack comprehensive real-time metering. Nevertheless, grid operators require precise knowledge of loads and renewable generation to accomplish any feeder optimization task. At the same time, new grid…
When electric vehicles (EVs) are integrated into standalone DC microgrids (DCMGs), stability issues arise due to their constant power load (CPL) behavior, which provides negative incremental impedance (NII). In addition, the microgrids…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requires. To formalize this gap, we study…
The integration of converter-interfaced generation introduces new transient stability challenges to modern power systems. Classical Lyapunov- and scalable passivity-based approaches typically rely on restrictive assumptions, and finding…
This paper presents an approach to deal with safety of dynamical systems in presence of multiple non-convex unsafe sets. While optimal control and model predictive control strategies can be employed in these scenarios, they suffer from high…
This paper presents some recent trends in the research of grid-interactive inverters. Particularly, this paper focuses on stability, ancillary services, operation, and security of single and multiple inverters in the modern power grid. A…
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinearity and black-box nature challenge control designs that…
In this paper, we consider a network of processors aiming at cooperatively solving mixed-integer convex programs subject to uncertainty. Each node only knows a common cost function and its local uncertain constraint set. We propose a…
In recent years, advanced model-based and data-driven control methods are unlocking the potential of complex robotics systems, and we can expect this trend to continue at an exponential rate in the near future. However, ensuring safety with…
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control…
Grid-following and grid-forming inverters are integral components of microgrids and for integration of renewable energy sources with the grid. For grid following inverters, which need to emulate controllable current sources, a significant…
This paper develops a novel framework for power system stability analysis, that allows for the decentralized design of inverter based controllers. The method requires that each individual inverter satisfies a standard $H^\infty$ design…
Smart grid systems are characterized by high complexity due to interactions between a traditional passive network and active power electronic components, coupled using communication links. Additionally, automation and information technology…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
In modern smart grids, charging of local energy storage devices is coordinated on a residential level to compensate the volatile aggregated power demand on the time interval of interest. However, this results in a perpetual usage of all…
The purpose of this paper is to do a general survey on the existing communication modes inside a smart grid, the existing security loopholes and their countermeasures. Then we suggest a detailed countermeasure, building upon the Jigsaw…