Related papers: Energy Tank-based Control Framework for Satisfying…
In recent years, the energy-water nexus literature has recognized that the electricity and water infrastructure that enable the production, distribution, and consumption of these two commodities is fundamentally intertwined. Electric power…
This paper presents a predictive control strategy based on neural network model of the plant is applied to Continuous Stirred Tank Reactor (CSTR). This system is a highly nonlinear process; therefore, a nonlinear predictive method, e.g.,…
Energy storage is a fundamental component for the development of sustainable and environment-aware technologies. One of the critical challenges that needs to be overcome is preserving the State of Health (SoH) in energy harvesting systems,…
This paper addresses the problem of maintaining safety during training in Reinforcement Learning (RL), such that the safety constraint violations are bounded at any point during learning. In a variety of RL applications the safety of the…
Model mismatches prevail in real-world applications. Ensuring safety for systems with uncertain dynamic models is critical. However, existing robust safe controllers may not be realizable when control limits exist. And existing methods use…
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…
Improvement of thermoelectric systems in terms of performance and range of applications relies on progress in materials science and optimization of device operation. In this chapter, we focuse on optimization by taking into account the…
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…
Battery energy storage systems are widely adopted in grid-connected applications to mitigate the impact of intermittent renewable generations and enhance power system resiliency. Degradation of the battery during its service time is one of…
This paper presents an application of specification based runtime verification techniques to control mobile robots in a reactive manner. In our case study, we develop a layered control architecture where runtime monitors constructed from…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
We consider the problem of provably securing a given control loop implementation in the presence of adversarial interventions on data exchange between plant and controller. Such interventions can be thwarted using continuously operating…
This paper considers the problem of safely coordinating a team of sensor-equipped robots to reduce uncertainty about a dynamical process, where the objective trades off information gain and energy cost. Optimizing this trade-off is…
Model Predictive Control evolved as the state of the art paradigm for safety critical control tasks. Control-as-Inference approaches thereof model the constrained optimization problem as a probabilistic inference problem. The constraints…
Amidst the growing demand for implementing advanced control and decision-making algorithms|to enhance the reliability, resilience, and stability of power systems|arises a crucial concern regarding the safety of employing machine learning…
Reconfigurable battery systems (RBSs) are emerging as a promising solution to improving fault tolerance, charge and thermal balance, energy delivery, etc. To optimize these performance metrics of RBSs, high-dimensional nonlinear integer…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…