系统与控制
In this paper, a distributed average tracking problem is studied for Lipschitz-type nonlinear dynamical systems. The objective is to design distributed average tracking algorithms for locally interactive agents to track the average of…
A seminal result in decentralized control is the development of fixed modes by Wang and Davison in 1973 - that plant modes which cannot be moved with a static decentralized controller cannot be moved by a dynamic one either, and that the…
The analysis of industrial processes, modelled as descriptor systems, is often computationally hard due to the presence of both algebraic couplings and difference equations of high order. In this paper, we introduce a control refinement…
Electric Vehicles (EVs) and Plug-in Hybrid Electric Vehicles (PHEVs) are increasingly being seen as a means of mitigating the pressing concerns of traffic-related pollution. While hybrid vehicles are usually designed with the objective of…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…
This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…
Flexibility is a key enabler for the smart grid, required to facilitate Demand Side Management (DSM) programs, managing electrical consumption to reduce peaks, balance renewable generation and provide ancillary services to the grid.…
To improve safety and energy efficiency, autonomous vehicles are expected to drive smoothly in most situations, while maintaining their velocity below a predetermined speed limit. However, some scenarios such as low road adherence or…
Obesity is a chronic disease that can lead to an increased risk of other serious chronic diseases and even death. We present switching and time-delayed feedback-based model free control methods for the dynamic management of body mass and…
We develop a method to estimate from data travel latency cost functions in multi-class transportation networks, which accommodate different types of vehicles with very different characteristics (e.g., cars and trucks). Leveraging our…
Lossless Feedback Delay Networks (FDNs) are commonly used as a design prototype for artificial reverberation algorithms. The lossless property is dependent on the feedback matrix, which connects the output of a set of delays to their…
This paper discusses algorithms for solving Markov decision processes (MDPs) that have monotone optimal policies. We propose a two-stage alternating convex optimization scheme that can accelerate the search for an optimal policy by…
In this report, we introduce a comprehensive design framework for Event-Triggered Networked Control Systems based on the passivity-based concept of Input Feed-Forward Output Feedback Passive (IF-OFP) systems. Our approach is comprehensive…
In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential…
In formation control, triangular formations consisting of three autonomous agents serve as a class of benchmarks that can be used to test and compare the performances of different controllers. We present an algorithm that combines the…
A Network Control System (NCS) consists of control components that interact with the plant over a shared network. The system dynamics of a NCS could be subject to noise arising from randomness in the times at which the data is transmitted…
In this paper, the structural controllability of the systems over F(z) is studied using a new mathematical method-matroids. Firstly, a vector matroid is defined over F(z). Secondly, the full rank conditions of [sI-A|B] are derived in terms…
The output impedance matrices of three-phase grid-connected voltage source converters (VSCs) are widely used in power system stability analysis. Regardless of how the impedance is modeled, there always exist coupling terms in the impedance…
This paper describes the Parametrized Derivative-Free Model Predictive Control pdf-mpc package, a matlab coder-based set of subroutines that enables a model predictive control problem to be defined and solved. the pdf-mpc is made available…