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Multi-Objective Learning Model Predictive Control is a novel data-driven control scheme which improves a linear system's closed-loop performance with respect to several convex control objectives over iterations of a repeated task. At each…
Dynamical systems (DSs) provide a framework for high flexibility, robustness, and control reliability and are widely used in motion planning and physical human-robot interaction. The properties of the DS directly determine the robot's…
To stabilize PDE models, control laws require space-dependent functional gains mapped by nonlinear operators from the PDE functional coefficients. When a PDE is nonlinear and its "pseudo-coefficient" functions are state-dependent, a…
For microprocessors used in real-time embedded systems, minimizing power consumption is difficult due to the timing constraints. Dynamic voltage scaling (DVS) has been incorporated into modern microprocessors as a promising technique for…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
This paper develops the time-delay approach to Networked Control Systems (NCSs) in the presence of variable transmission delays, sampling intervals and communication constraints. The system sensor nodes are supposed to be distributed over a…
A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a…
This paper derives new formulations for designing dominant pole placement based proportional-integral-derivative (PID) controllers to handle second order processes with time delays (SOPTD). Previously, similar attempts have been made for…
This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to…
This paper presents a closed-loop controller for wind farms to provide active power control services using a high-fidelity computational fluid dynamics based wind plant simulator. The proposed design enhances power tracking stability and…
This paper presents an automated, model-free, data-driven method for the safe tuning of PID cascade controller gains based on Bayesian optimization. The optimization objective is composed of data-driven performance metrics and modeled using…
This paper deals with the design of scheduling logics for Networked Control Systems (NCSs) whose communication networks have limited capacity. We assume that only a subset of the plants can communicate with their controllers at any time…
Today's complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability problem of a…
Hybrid AC/DC transmission grids incorporate Modular Multilevel Converters functioning as Interconnecting Power Converters (IPCs). The control role assigned to each converter significantly influences grid dynamics. Traditionally, these…
Experimental demonstration of complex robotic behaviors relies heavily on finding the correct controller gains. This painstaking process is often completed by a domain expert, requiring deep knowledge of the relationship between parameter…
This paper proposes a novel model-free secondary voltage control (SVC) for microgrids using nonlinear multiple models adaptive control. The proposed method is comprised of two components. Firstly, a linear robust adaptive controller is…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…