Related papers: Total energy-shaping control for mechanical system…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
Uncrewed aerial systems have tightly coupled energy and motion dynamics which must be accounted for by onboard planning algorithms. This work proposes a strategy for coupled motion and energy planning using model predictive control (MPC). A…
In this article, we study the null-controllability and observability properties of a bi-dimensio\-nal fluid-structure interaction system, governed by the heat equation coupled with the damped beam equation. To do so, we prove a global…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the control loop by a real-time estimation of the derivative of the…
Energy decomposition analysis (EDA) based on absolutely localized molecular orbitals (ALMOs) decomposes the interaction energy between molecules into physically interpretable components like geometry distortion, frozen interactions,…
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…
Controlling complex dynamical systems has been a topic of considerable interest in academic circles in recent decades. While existing works have primarily focused on closed-loop control schemes with infinite-time durations, this paper…
Focusing on the efficient probe and manipulation of single-particle spin states, we investigate the coupled spin and orbital dynamics of a spin 1/2 particle in a harmonic potential subject to ultrastrong spin-orbit interaction and external…
Hybrid fast-charging stations with battery storage and local renewable generation can facilitate low-carbon electric vehicle (EV) charging, while reducing the stress on the distribution grid. This paper proposes energy management strategies…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Ratio control for two interacting processes is proposed with a PID feedforward design based on model predictive control (MPC) scheme. At each sampling instant, the MPC control action minimizes a state-dependent performance index associated…
In this paper, we study structural controllability of a linear time invariant (LTI) composite system consisting of several subsystems. We assume that the neighbourhood of each subsystem is unconstrained, i.e., any subsystem can interact…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…
Due to proliferation of energy efficiency measures and availability of the renewable energy resources, traditional energy infrastructure systems (electricity, heat, gas) can no longer be operated in a centralized manner under the assumption…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…
E-powertrain of future electric vehicles could consist of energy generation units (e.g., fuel cells and photovoltaic modules), energy storage systems (e.g., batteries and supercapacitors), energy conversion units (e.g., bidirectional DC/DC…
Although battery technology has advanced tremendously over the past decade, it continues to be a bottleneck for the mass adoption of electric aircraft in long-haul cargo and passenger delivery. The onboard energy is expected to be utilized…
In this article, we propose a nonlinear voltage control to ensure power exchange in a multiport interconnected system, which consists of a bidirectional DC-DC converter and generating-storing devices. The converter topology under…