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In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
This paper addresses the problem of asymptotic tracking for high-order control-affine MIMO nonlinear systems with unknown dynamic terms subject to input and transient state constraints. We introduce Barrier Integral Control (BRIC), a novel…
Building officials, particularly those in resource-constrained or rural jurisdictions, face labor-intensive, error-prone, and costly manual reviews of design documents as projects increase in size and complexity. The growing adoption of…
Advanced control in Lambda ($\Lambda$) scheme of a solid state architecture of artificial atoms and quantized modes would allow the translation to the solid-state realm of a whole class of phenomena from quantum optics, thus exploiting new…
Advanced persistent threats (APTs) pose significant challenges for organizations, leading to data breaches, financial losses, and reputational damage. Existing provenance-based approaches for APT detection often struggle with high false…
The process industry implements many techniques with certain parameters in its operations to control the working of several actuators on field. Amongst these actuators, DC motor is a very common machine. The angular position of DC motor can…
Traffic Management in Advanced Aerial Mobility (AAM) inherits many elements of conventional Air Traffic Management (ATM), but brings new complexities and challenges of its own. One of its ways of guaranteeing separation is the use of…
Adaptive Risk Control (ARC) is an online calibration strategy based on set prediction that offers worst-case deterministic long-term risk control, as well as statistical marginal coverage guarantees. ARC adjusts the size of the prediction…
This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop…
A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…
With the continued growth in field-programmable gate array (FPGA) capacity and their incorporation into new environments such as datacenters, we have witnessed the introduction of a new class of reconfigurable acceleration devices (RADs)…
We introduce GRiD: a GPU-accelerated library for computing rigid body dynamics with analytical gradients. GRiD was designed to accelerate the nonlinear trajectory optimization subproblem used in state-of-the-art robotic planning, control,…
Automatic generation control (AGC) is one of the most important coordinated control systems present in modern interconnected power systems. Despite being heavily studied, no interconnected dynamic stability and performance analysis of AGC…
This paper presents a novel two-level control architecture for a fully autonomous vehicle in a deterministic environment, which can handle traffic rules as specifications and low-level vehicle control with real-time performance. At the top…
Building loads consume roughly 40% of the energy produced in developed countries, a significant part of which is invested towards building temperature-control infrastructure. Therein, renewable resource-based microgrids offer a greener and…
In this paper, an adaptive fractional controller has been designed to control chaotic systems. In fact, this controller is a fractional PID controller, which the coefficients will be tuned according to a proper adaptation mechanism. The…
Applications such as cloud gaming, video streaming, telemetry, ML inference, and data transfer provide a better experience when data is released at the receiver with timing reflecting how the data enters the sender. In practice, network…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
A comprehensive theory for robust PID control in continuous-time and discrete-time domain is reviewed in this paper. For a given finite set of linear time invariant plants, algorithms for fast computation of robustly stabilizing regions in…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…