Related papers: Energetically efficient, mediated mechanical syste…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
This article proposes a data-driven $H_{\infty}$ control scheme for time-domain constrained systems based on model predictive control formulation. The scheme combines $H_{\infty}$ control and minimax model predictive control, enabling more…
Frequency control reserves are an essential ancillary service in any electric power system, guaranteeing that generation and demand of active power are balanced at all times. Traditionally, conventional power plants are used for frequency…
In this paper, we study wireless networked control systems in which the sensing devices are powered by energy harvesting. We consider a scenario with multiple plants, where the sensors communicate their measurements to their respective…
Our current transportation system suffers from a number of problems in terms of safety, mobility, and environmental sustainability. The emergence of innovative intelligent transportation systems (ITS) technologies, and in particular…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
A new way of getting controlled spin dependent transport through a two-terminal bridge setup is explored. The system comprises a magnetic quantum ring which is directly coupled to a magnetic quantum wire and subjected to an in-plane…
We study scheduling control of parallel processing networks in which some resources need to simultaneously collaborate to perform some activities and some resources multitask. Resource collaboration and multitasking give rise to…
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…
This paper presents an alternate form for the dynamic modelling of a mechanical system that simulates in real life a gantry crane type, using Euler's classical mechanics and Lagrange formalism, which allows find the equations of motion that…
We propose an energy-efficient controller to minimize the energy consumption of a mobile robot by dynamically manipulating the mechanical and computational actuators of the robot. The mobile robot performs real-time vision-based…
This paper presents models for renewable energy systems with storage, and considers its optimal operation. We model and simulate wind and solar power production using stochastic differential equations as well as storage of the produced…
Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…
This paper points out some key drawbacks of today's modeling and control underlying hierarchical electric power system operations and planning as the hidden roadblocks on the way to decarbonization. We suggest that these can be overcome by…
The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward…
Green hydrogen has shown great potential to power microgrids as a primary source, yet the operation methodology under extreme events is still an open area. To fill this gap, this letter establishes an operational optimization strategy…
We consider the nonlinear optimal control of bypass transition in a boundary layer flow subjected to a pair of free stream vortical perturbations using a receding horizon approach. The optimal control problem is solved using the Lagrange…
This paper addresses the problem of management and coordination of energy resources in a typical microgrid, including smart buildings as flexible loads, energy storages, and renewables. The overall goal is to provide a comprehensive and…
Wind farm wake steering optimization is challenging due to complex flow physics and changing conditions. This paper presents a hierarchical framework that combines reinforcement learning with model predictive control, where an RL agent…
We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches…