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The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
This paper presents the development of a non-linear model predictive controller (MPC) for controlling variable speed hydropower (VSHP) plants. The MPC coordinates the turbine controller with the virtual synchronous generator (VSG) control…
As the concern about climate change and energy shortage grow stronger, the incorporation of renewable energy in the power system in the future is foreseeable. In a hybrid power system with a large penetration of PV generation, PV panel is…
We propose a distributed control law for a heterogeneous multi-robot coverage problem, where the robots could have different energy characteristics, such as capacity and depletion rates, due to their varying sizes, speeds, capabilities, and…
Large-scale integration of renewables in power systems gives rise to new challenges for keeping synchronization and frequency stability in volatile and uncertain power flow states. To ensure the safety of operation, the system must maintain…
Grid-forming inverter-based autonomous microgrids present new operational challenges as the stabilizing rotational inertia of synchronous machines is absent. The design of efficient control policies for grid-forming inverters is, however, a…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
Adaptive structures are equipped with sensors and actuators to actively counteract external loads such as wind. This can significantly reduce resource consumption and emissions during the life cycle compared to conventional structures. A…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
The current context of launchers reusability requires the improvement of control algorithms for their liquid-propellant rocket engines. Their transient phases are generally still performed in open loop. In this paper, it is aimed at…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Production high-performance computing systems continue to grow in complexity and size. As applications struggle to make use of increasingly heterogeneous compute nodes, maintaining high efficiency (performance per watt) for the whole…
Integration of Inverter Based Resources (IBRs) which lack the intrinsic characteristics such as the inertial response of the traditional synchronous-generator (SG) based sources presents a new challenge in the form of analyzing the grid…
A hierarchical Model Predictive Control (MPC) formulation is presented for coupled discrete-time linear systems with state and input constraints. Compared to a centralized approach, a two-level hierarchical controller, with one controller…
A robust Learning Model Predictive Controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task the closed-loop state, input and cost are stored and used in the controller design.…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
A two-layer control architecture is proposed to enable scalable implementations for constraint-based decision strategies, such as model predictive controllers. The bottom layer is based upon a distributed feedback-feedforward scheme that…
Transmission topology control is a tool used by system operators in the role of a control action taken into account as a preventive or corrective action relative to a specific outage or set of outages. However, their inclusion in most…
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…
This paper proposes a form of MPC in which the control variables are moved asynchronously. This contrasts with most MIMO control schemes, which assume that all variables are updated simultaneously. MPC outperforms other control strategies…