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This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
This paper applies Benders decomposition to two-stage stochastic problems for energy planning under climate uncertainty, a key problem for the design of renewable energy systems. To improve performance, we adapt various refinements for…
The rapid integration of inverter-based resources (IBRs) into power systems has identified frequency security challenges due to reduced inertia and increased load volatility. This paper proposes a robust power reserve decision-making…
This paper presents a boundary control scheme for prescribed-time (PT) stable of flexible string systems via backstepping method, and the dynamics of such systems modeled by Hamilton's principle is described as second-order hyperbolic…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
This paper presents a pressure-robust discretizations, specifically within the context of optimal control problems for the Stokes-Darcy system. The study meticulously revisits the formulation of the divergence constraint and the enforcement…
This paper addresses the stabilization of a chain of three coupled hyperbolic partial differential equations actuated by two control inputs applied at arbitrary nodes of the network. With the exception of configurations where one input is…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…
Increasing penetration of renewable energy sources (RES) and electrification of energy systems necessitates the engagement of demand-side management (DSM) to help alleviate congestion in electricity grid. Heat pump and thermal energy…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Solving optimal control problems for transport-dominated partial differential equations (PDEs) can become computationally expensive, especially when dealing with high-dimensional systems. To overcome this challenge, we focus on developing…
Power systems dominated by converter-interfaced distributed energy resources (DERs) typically exhibit weaker damping capabilities and lower inertia, compromising system stability. Although individual DER controllers are evolving to provide…
We develop a backstepping control design for a class of continuum systems of linear hyperbolic PDEs, described by a coupled system of an ensemble of rightward transporting PDEs and a (finite) system of $m$ leftward transporting PDEs. The…
Model Predictive Control (MPC) has established itself as the primary methodology for constrained control, enabling autonomy across diverse applications. While model fidelity is crucial in MPC, solving the corresponding optimization problem…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed a model of the disturbance in the…
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently employed in model-based control schemes, dimensionality…
Optimally operating an integrated electricity-gas system (IEGS) is significant for the energy sector. However, the IEGS operation model's nonconvexity makes it challenging to solve the optimal dispatch problem in the IEGS. This letter…