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Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
The issue of synchronization in the power grid is receiving renewed attention, as new energy sources with different dynamics enter the picture. Global metrics have been proposed to evaluate performance and analyzed under highly simplified…
One of the major issues in an interconnected power system is the low damping of inter-area oscillations which significantly reduces the power transfer capability. Advances in Wide-Area Measurement System (WAMS) makes it possible to use the…
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…
Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end…
While humans are highly capable of recovering from external disturbances and uncertainties that result in large tracking errors, humanoid robots have yet to reliably mimic this level of robustness. Essential to this is the ability to…
This study proposes a control strategy to ensure the safe operation of modern power systems with high penetration of inverter-based resources (IBRs) within an optimal operation framework. The objective is to obtain operating points that…
We consider synchronization of coupled dynamical systems when different types of interactions are simultaneously present. We assume that a set of dynamical systems are coupled through the connections of two or more distinct networks (each…
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal…
Gaze stabilization is an important requisite for humanoid robots. Previous work on this topic has focused on the integration of inertial and visual information. Little attention has been given to a third component, which is the knowledge…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
We discuss control of bittide distributed systems, which are designed to provide logical synchronization between networked machines by observing data flow rates between adjacent systems at the physical network layer and controlling local…
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…
We consider a problem of robotic router placement and mobility control with the objective of formation and maintenance of an optimal communication network between a set of transmitter-receiver pairs. In this scenario, the communication path…
Maintaining consistent time in distributed systems is a fundamental challenge. The bittide system addresses this by providing logical synchronization through a decentralized control mechanism that observes local buffer occupancies and…
The ``Pulse Synchronization'' problem can be loosely described as targeting to invoke a recurring distributed event as simultaneously as possible at the different nodes and with a frequency that is as regular as possible. This target…
The integration of renewable energy sources in the course of the energy transition is accompanied by grid decentralization and fluctuating power feed-in characteristics. This raises new challenges for power system stability and design. We…
Virtual synchronous machines are inverters with a control algorithm that causes them to behave towards the power grid like synchronous generators. A popular way to realize such inverters are synchronverters. Their control algorithm has…
Network optimization strategies for the process of synchronization have generally focused on the re-wiring or re-weighting of links in order to: (1) expand the range of coupling strengths that achieve synchronization, (2) expand the basin…
This paper provides synchronization conditions for networks of nonlinear systems. The components of the network (referred to as "compartments'' in this paper) are made up of an identical interconnection of subsystems, each represented as an…