Related papers: Design and control analysis of a deployable cluste…
Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
In this paper, a new multi-hop weighted clustering procedure is proposed for homogeneous Mobile Ad hoc networks. The algorithm generates double star embedded non-overlapping cluster structures, where each cluster is managed by a leader node…
In this paper, a novel distributed control strategy addressing a (feasible) psycho-social-physical welfare problem in islanded Direct Current (DC) smart grids is proposed. Firstly, we formulate a (convex) optimization problem that allows…
Methods that preserve coherence broadly impact all quantum information processing and metrology applications. Dynamical decoupling methods accomplish this by protecting qubits in noisy environments but are typically constrained to the limit…
Controlling large-scale cyber-physical systems necessitates optimal distributed policies, relying solely on local real-time data and limited communication with neighboring agents. However, finding optimal controllers remains challenging,…
Cluster structure in cognitive radio networks facilitates cooperative spectrum sensing, routing and other functionalities. The unlicensed channels, which are available for every member of a group of cognitive radio users, consolidate the…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
We prove controllability results for abstract systems of weakly coupled $N$ evolution equations in cascade by a reduced number of boundary or locally distributed controls ranging from a single up to $N-1$ controls. We give applications to…
The growing integration of renewable energy sources into distribution networks poses significant challenges to frequency and voltage stability due to their intermittent nature and low-inertia dynamics. This paper proposes a multilevel…
This paper proposes a computationally efficient framework, based on interval analysis, for rigorous verification of nonlinear continuous-time dynamical systems with neural network controllers. Given a neural network, we use an existing…
This paper proposes a novel control framework for cooperative transportation of cable-suspended loads by multiple unmanned aerial vehicles (UAVs) operating in constrained environments. Leveraging virtual tube theory and principles from…
Networked control systems (NCS) are spatially distributed systems where communication among plants, sensors, actuators and controllers occurs in a shared communication network. NCS have been studied for the last ten years and important…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
This work studies the null controllability of a system of coupled parabolic PDEs. In particular, our work specializes to an important subclass of these control problems which are coupled by first and zero-order couplings and are,…
The formation, movement and gluing of clusters can be described through a system of non local balance laws. Here, the well posedness of this system is obtained, as well as various stability estimates. Remarkably, qualitative properties of…
Direct-to-cell (D2C) satellite communications have emerged as a crucial alternative to terrestrial communications in the sixth generation (6G) mobile networks due to their wide-area coverage capability. Unlike human-oriented communications,…
We develop safe protocols for thermostatically controlled loads (TCLs) to provide power pulses to the grid without a subsequent oscillatory response. Such pulses can alleviate power fluctuations by intermittent resources and maintain…
Motivated by engineering applications of subsea installation by deepwater construction vessels in oil drilling, and of aid delivery by unmanned aerial vehicles in disaster relief, we develop output-feedback boundary control of…