Related papers: Improving the GMAW process through current control
We develop energy efficient, continuous microwave schemes to couple electron and nuclear spins, using phase or amplitude modulation to bridge their frequency difference. These controls have promising applications in biological systems,…
We study cutoff results for parameterized verification and synthesis of guarded protocols, as introduced by Emerson and Kahlon (2000). Guarded protocols describe systems of processes whose transitions are enabled or disabled depending on…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
To provide automatic generation control (AGC) service, wind farms (WFs) are required to control their operation dynamically to track the time-varying power reference. Wake effects impose significant aerodynamic interactions among turbines,…
Legged robots with closed-loop kinematic chains are increasingly prevalent due to their increased mobility and efficiency. Yet, most motion generation methods rely on serial-chain approximations, sidestepping their specific constraints and…
Continuous-time batch state estimation using Gaussian processes is an efficient approach to estimate the trajectories of robots over time. In the past, relatively simple physics-motivated priors have been considered for such approaches,…
The Model Predictive Control (MPC) approach is used in this paper to control the voltage profiles in MV networks with distributed generation. The proposed algorithm lies at the intermediate level of a three-layer hierarchical structure. At…
A novel grating modulation technique for laser arrays is proposed and demonstrated. This method modifies the initial phase within each grating period, applying a total phase shift that increments in an arithmetic progression, ensuring equal…
Model predictive control (MPC) is a powerful control technique for online optimization using system model-based predictions over a finite time horizon. However, the computational cost MPC requires can be prohibitive in resource-constrained…
We present a controller and transmission policy design procedure for nonlinear wireless networked control systems. Our objective is to ensure the stability of the closed-loop system, in a stochastic sense, together with given control…
The development of control methods based on data has seen a surge of interest in recent years. When applying data-driven controllers in real-world applications, providing theoretical guarantees for the closed-loop system is of crucial…
The weighted voltage mode control represents a method for control of multiple outputs DC-DC converters. Accordingly, the weighted control redistributes the error among the outputs of these converters, and the regulation error can be reduced…
This paper presents a hierarchical control scheme for interconnected linear systems. At the higher layer of the control structure a robust centralized Model Predictive Control (MPC) algorithm based on a reduced order dynamic model of the…
This paper proposes decentralized stability conditions for multi-converter systems based on the combination of the small gain theorem and the small phase theorem. Instead of directly computing the closed-loop dynamics, e.g., eigenvalues of…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
This paper presents a novel approach to learning free terminal time closed-loop control for robotic manipulation tasks, enabling dynamic adjustment of task duration and control inputs to enhance performance. We extend the supervised…
In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…
For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…