系统与控制
This chapter provides an introduction to the modeling and control of power generation from wind turbine systems. In modeling, the focus is on the electrical components: electrical machine (e.g. permanent-magnet synchronous generators),…
In this paper, we study networked systems in the presence of Denial-of-Service (DoS) attacks, namely attacks that prevent transmissions over the communication network. Previous studies have shown that co-located architectures (control unit…
This paper presents a fully automated procedure for controller synthesis for a general class of multi-agent systems under coupling constraints. Each agent is modeled with dynamics consisting of two terms: the first one models the coupling…
A crucial function for automated vehicle technologies is accurate localization. Lane-level accuracy is not readily available from low-cost Global Navigation Satellite System (GNSS) receivers because of factors such as multipath error and…
This paper considers the problem of sensory data scheduling of multiple processes. There are $n$ independent linear time-invariant processes and a remote estimator monitoring all the processes. Each process is measured by a sensor, which…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals. In particular, we design control protocols that allow the transition of the…
In multiple-input single-output (MISO) wireless power transfer (WPT) via magnetic resonant coupling (MRC), multiple transmitters are deployed to enhance the efficiency of power transfer to the electric load at a single receiver by jointly…
In this paper we present a queueing network approach to the problem of routing and rebalancing a fleet of self-driving vehicles providing on-demand mobility within a capacitated road network. We refer to such systems as autonomous…
Optimal input design is an important step of the identification process in order to reduce the model variance. In this work a D-optimal input design method for finite-impulse-response-type nonlinear systems is presented. The optimization of…
In this paper we develop a numerical method to solve nonlinear optimal control problems with final-state constraints. Specifically, we extend the PRojection Operator based Netwon's method for Trajectory Optimization (PRONTO), which was…
An event-based state estimation approach for reducing communication in a networked control system is proposed. Multiple distributed sensor agents observe a dynamic process and sporadically transmit their measurements to estimator agents…
As a general and thus popular model for autonomous systems, partially observable Markov decision process (POMDP) can capture uncertainties from different sources like sensing noises, actuation errors, and uncertain environments. However,…
Feature aided tracking can often yield improved tracking performance over the standard multiple target tracking (MTT) algorithms with only kinematic measurements. However, in many applications, the feature signal of the targets consists of…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…
We consider the problem of controlling the spatiotemporal probability distribution of a robotic swarm that evolves according to a reflected diffusion process, using the space- and time-dependent drift vector field parameter as the control…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
In this paper we present a method for the addition of integral action to non-passive outputs of a class of port-Hamiltonian systems. The proposed integral controller is a dynamic extension, constructed from the open loop system, such that…
We develop a method to control discrete-time systems with constant but initially unknown parameters from linear temporal logic (LTL) specifications. We introduce the notions of (non-deterministic) parametric and adaptive transition systems…
Structural Analysis is an established method for Fault Detection and Identification (FDI) in large-scale systems, enabling the discovery of Analytical Redundancy Relations (ARRs) which serve as residual generators. However, most techniques…
This article determines and characterizes the minimal number of actuators needed to ensure structural controllability of a linear system under structural alterations that can severe the connection between any two states. We assume that…