系统与控制
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
We consider the problem of synthesizing safe-by-design control strategies for semi-autonomous systems. Our aim is to address situations when safety cannot be guaranteed solely by the autonomous, controllable part of the system and a certain…
The identification of multivariable state space models in innovation form is solved in a subspace identification framework using convex nuclear norm optimization. The convex optimization approach allows to include constraints on the unknown…
The first International Workshop on Verification and Validation of Cyber-Physical Systems (V2CPS-16) was held in conjunction with the 12th International Conference on integration of Formal Methods (iFM 2016) in Reykjavik, Iceland. The…
We propose a novel recursive system identification algorithm for linear autoregressive systems with skewed innovations. The algorithm is based on the variational Bayes approximation of the model with a multivariate normal prior for the…
In this paper, we design a supervisor to prevent vehicle collisions at intersections. An intersection is modeled as an area containing multiple conflict points where vehicle paths cross in the future. At every time step, the supervisor…
With the rising demand for solar energy installation, there is a pressing need for utilities to regulate the voltages at the distribution level. In grids with high penetration of photovoltaic (PV) systems, voltage fluctuations can occur at…
We review Bhat et al's paper where a class of bounded, continuous time-invariant finite time stabilizing feedback laws are derived for the double integrator and Lyapunov theory is employed in establishing finite-time convergence.
The operation of most signalized intersections is governed by predefined timing plans that are applied during specified times of the day. These plans are designed to accommodate average conditions and are unable to respond to large…
Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in…
The trajectory tracking problem for multivariable linear systems is considered. Two different techniques are examined: the output regulation theory (ORT) and the flatness based tracking (FBT). ORT and FBT are two different approaches to…
The concept of uncertainty is posed in almost any complex system including parallel robots as an outstanding instance of dynamical robotics systems. As suggested by the name, uncertainty, is some missing information that is beyond the…
Drawing inspiration from the theory of linear "decomposable systems", we provide a method, based on linear matrix inequalities (LMIs), which makes it possible to prove the convergence (or consensus) of a set of interacting agents with…
Most navigation systems use data from satellites to provide drivers with the shortest-distance, shortest-time or highway-preferred paths. However, when the routing decisions are made for advanced vehicles, there are other factors affecting…
Model Predictive Control (MPC) of an unknown system that is modelled by Gaussian Process (GP) techniques is studied in this paper. Using GP, the variances computed during the modelling and inference processes allow us to take model…
In this paper, we propose a distributed multi-object tracking algorithm through the use of multi-Bernoulli (MB) filter based on generalized Covariance Intersection (G-CI). Our analyses show that the G-CI fusion with two MB posterior…
We present results on stabilization for reduced order models (ROM) of partial differential equations using learning. Stabilization is achieved via closure models for ROMs, where we use a model-free extremum seeking (ES) dither-based…
This work is concerned with the application of game theoretic principles to model competition between demand response aggregators for selling excess energy stored in electrochemical storage devices directly to other aggregators in a power…
Introducing more Distributed Generation (DG) into power grid infrastructure drives more attention to understand how large scale DG affects grid operation. Islanding is an important concern in this area. Islanding refers to the condition…
This letter introduces a method to manage energy storage in electricity grids. Starting from the stochastic characterization of electricity generation and demand, we propose an equation that relates the storage level for every time-step as…