系统与控制
This is a complementary document to the paper presented in [1], to provide more detailed proofs for some results. The main paper addresses the problem of trajectory tracking control of autonomous rotorcraft in operation scenarios where only…
The small-signal impedance modeling of modular multilevel converter (MMC) is the key for analyzing resonance and stability of MMC-based ac power electronics systems. MMC is a converter system with a typical multi-frequency response due to…
This paper proposes a deep cerebellar model articulation controller (DCMAC) for adaptive noise cancellation (ANC). We expand upon the conventional CMAC by stacking sin-gle-layer CMAC models into multiple layers to form a DCMAC model and…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…
Energy-efficiency is highly desirable for sensing systems in the Internet of Things (IoT). A common approach to achieve low-power systems is duty-cycling, where components in a system are turned off periodically to meet an energy budget.…
We present consensus analysis of systems with single integrator dynamics interacting via time-varying graphs under the event-triggered control paradigm. Event-triggered control sparsifies the control applied, thus reducing the control…
Renewable energy sources and further electrificationof energy consumption are key enablers for decreasing green-house gas emissions, but also introduce increased complexitywithin the electric power system. The increased availability…
Demand response is designed to motivate electricity customers to modify their loads at critical time periods. The accurate estimation of impact of demand response signals to customers' consumption is central to any successful program. In…
In this Letter, we present a novel class of diffusion algorithms that can be used to estimate the coefficients of sparse Volterra network (SVN). The development of the algorithms is based on the logarithmic cost and l0-norm constraint.…
Many control problems in environments that can be modeled as Markov decision processes (MDPs) concern infinite-time horizon specifications. The classical aim in this context is to compute a control policy that maximizes the probability of…
Implementing frequency response using grid-connected inverters is one of the popular proposed alternatives to mitigate the dynamic degradation experienced in low inertia power systems. However, such solution faces several challenges as…
For robust testing of new technologies used in future, intelligent power and energy systems, realistic testing environments are needed. Due to the dimensions of a real-world environment a field-based installation is often not viable. More…
A fundamental question in systems biology is what combinations of mean and variance of the species present in a stochastic biochemical reaction network are attainable by perturbing the system with an external signal. To address this…
Path planning for autonomous vehicles in arbitrary environments requires a guarantee of safety, but this can be impractical to ensure in real-time when the vehicle is described with a high-fidelity model. To address this problem, this paper…
This paper addresses harmonic magnification due to resonance circuits resulting from interaction between uncertain grid impedance and converter. The source of harmonic may be either the grid or inverter. It is demonstrated that unknown and…
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of…
A state-space formulation of classical scalar Preisach model (CSPM) of hysteresis is proposed. The introduced state dynamics and memory interface allow to use the state equation, which is rapid in calculation, instead of the original…
Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…
This is an intuitive introduction to classic sliding mode control that shows how the associated assumptions and condition for its use arise in the context of a derivation of the method. It derives a controller that obviates the need for the…
The problem of how to coordinate a large fleet of trucks with given itinerary to enable fuel-efficient platooning is considered. Platooning is a promising technology that enables trucks to save significant amounts of fuel by driving close…