系统与控制
Locomotion at low Reynolds numbers is a topic of growing interest, spurred by its various engineering and medical applications. This paper presents a novel prototype and a locomotion algorithm for the 3-link planar Purcell's swimmer based…
In this article, we propose a control law for almost-global asymptotic tracking (AGAT) of a smooth reference trajectory for a fully actuated simple mechanical system (SMS) evolving on a Riemannian manifold which can be embedded in a…
This paper considers the problem of achieving attitude consensus in spacecraft formations with bounded, time-varying communication delays between spacecraft connected as specified by a strongly connected topology. A state feedback con-…
We discuss computational procedures based on descriptor state-space realizations to compute proper range space bases of rational matrices. The main computation is the orthogonal reduction of the system matrix pencil to a special…
The kernel-based regularization method has two core issues: kernel design and hyperparameter estimation. In this paper, we focus on the second issue and study the properties of several hyperparameter estimators including the empirical Bayes…
An improved proportionate adaptive filter based on the Maximum Correntropy Criterion (IP-MCC) is proposed for identifying the system with variable sparsity in an impulsive noise environment. Utilization of MCC mitigates the effect of…
Automated vehicles have been under heavy developments in major auto and tech companies and are expected to release into market in the foreseeable future. However, the road safety of these vehicles remains a concern. One approach to evaluate…
The Chemical Master Equation (CME) is used to stochastically model biochemical reaction networks, under the Markovian assumption. The low-order statistical moments induced by the CME are often the key quantities that one is interested in.…
We introduce LRT, a new Lagrangian-based ReachTube computation algorithm that conservatively approximates the set of reachable states of a nonlinear dynamical system. LRT makes use of the Cauchy-Green stretching factor (SF), which is…
The fast charging of Electric Vehicles (EVs) in distribution networks requires real-time EV charging control to avoid the overloading of grid components. Recent studies have proposed congestion control protocols, which result from…
This paper presents the harmonic state space (HSS) modeling of a three-phase modular multilevel converter (MMC). MMC is a converter system with a typical multi-frequency response due to its significant harmonics in the arm currents,…
We develop an assume-guarantee contract framework for the design of cyber-physical systems, modeled as closed-loop control systems, under probabilistic requirements. We use a variant of signal temporal logic, namely, Stochastic Signal…
Hypothesis testing methods that do not rely on exact distribution assumptions have been emerging lately. The method of sign-perturbed sums (SPS) is capable of characterizing confidence regions with exact confidence levels for linear…
In this paper, we investigate the performance analysis and synthesis of distributed system throttlers (DST). A throttler is a mechanism that limits the flow rate of incoming metrics, e.g., byte per second, network bandwidth usage, capacity,…
This paper develops some basic principles to study autocatalytic networks and exploit their structural properties in order to characterize their inherent fundamental limits and tradeoffs. In a dynamical system with autocatalytic structure,…
In electrical distribution grids, the constantly increasing number of power generation devices based on renewables demands a transition from a centralized to a distributed generation paradigm. In fact, power injection from Distributed…
Consensus formation in a social network is modeled by a dynamic game of a prescribed duration played by members of the network. Each member independently minimizes a cost function that represents his/her motive. An integral cost function…
Recently, the normalized subband adaptive filter (NSAF) algorithm has attracted much attention for handling the colored input signals. Based on the first-order Markov model of the optimal tap-weight vector, this paper provides a convergence…
Proportionate-type normalized suband adaptive filter (PNSAF-type) algorithms are very attractive choices for echo cancellation. To further obtain both fast convergence rate and low steady-state error, in this paper, a variable step size…
This paper investigates the problem of generation and load settings in a synthetic power grid modeling of high-voltage transmission network, considering both electrical parameters and topology measures. Our previous study indicated that the…