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It is well-established that a proportional current control gain emulates a resistor in the converter output impedance. Even though this resistance can provide additional damping to grid resonances, its effect for traditional linear current…
In this paper, construction of a neural-network based, closed-loop control of a discontinuous capsule drive is analyzed. The foundation of the designed controller is an optimized open-loop control function. A neural network is used to…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
Three-phase AC-DC rectifiers are fundamental components in modern power electronics systems, yet achieving rapid voltage regulation and precise current tracking under load and grid disturbances remains challenging due to nonlinear dynamics…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
This paper has developed a closed-loop control algorithm to operate the G2V/V2G action, tested under varying battery voltage conditions and load and source power differences. Under V2G action, to maintain total harmonic distortion under…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…
Valveless pumping assists in fluid transport in various organisms and engineering systems. In a previous work, to study the actuator impact effects on valveless pumping, we constructed a piecewise-linear lumped-parameter model for a…
We formulate the control of reactive power generation by photovoltaic inverters in a power distribution circuit as a constrained optimization that aims to minimize reactive power losses subject to finite inverter capacity and upper and…
Large horsepower induction motors play a critical role as industrial drives in production facilities. The operational safety of distribution networks during the starting transients of these motor loads is a critical concern for the…
Programmable control of the inductive electric field enables advanced operations of reversed-field pinch (RFP) plasmas in the Madison Symmetric Torus (MST) device and further develops the technical basis for ohmically heated fusion RFP…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
Robots incurring component failures ought to adapt their behavior to best realize still-attainable goals under reduced capacity. We formulate the problem of planning with actuators known a priori to be susceptible to failure within the…
This work is motivated by the monitoring of conductive clogging deposits in steam generator at the level of support plates. One would like to use monoaxial coils measurements to obtain estimates on the clogging volume. We propose a 3D shape…
With the growing integration of modular multilevel converters (MMCs) in Multi-Terminal Direct Current (MTDC) transmission systems, there is an increasing need for control strategies that ensure both economic efficiency and robust dynamic…
This paper introduces a control-theoretic framework for dynamic payment routing, implemented within JUSPAY's Payment Orchestrator to maximize transaction success rate. The routing system is modeled as a closed-loop feedback controller…