系统与控制
This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control,…
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…
This paper presents and evaluates the performance of an optimal scheduling algorithm that selects the on/off combinations and timing of a finite set of dynamic electric loads on the basis of short term predictions of the power delivery from…
Power Transfer Distribution Factors (PTDFs) play a crucial role in power grid security analysis, planning, and redispatch. Fast calculation of the PTDFs is therefore of great importance. In this paper, we present a non-approximative dual…
We solve the problem of output feedback stabilization of a class of nonlinear systems, which may have unstable zero dynamics. We allow for any globally stabilizing full state feedback control scheme to be used as long as it satisfies a…
Smart interactions among the smart grid, aggregators and EVs can bring various benefits to all parties involved, e.g., improved reliability and safety for the smart gird, increased profits for the aggregators, as well as enhanced self…
One solution to the limited range of battery electric vehicles is the provision of a public charging infrastructure to enable longer journeys. This paper describes a simulation model of a centralized computer routing and reservation system…
Voltage control in power distribution networks has been greatly challenged by the increasing penetration of volatile and intermittent devices. These devices can also provide limited reactive power resources that can be used to regulate the…
Here, we study the ultimately bounded stability of network of mismatched systems using Lyapunov direct method. We derive an upper bound on the norm of the error of network states from its average states, which it achieves in finite time.…
Energy storage systems (ESSs) are essential components of the future smart grid to smooth out the fluctuating output of renewable energy generators. However, installing large number of ESSs for individual energy consumers may not be…
In this paper, we present a Fingerprint Linear Estimation Routine (FLiER) to identify topology changes in power networks using readings from sparsely-deployed phasor measurement units (PMUs). When a power line, load, or generator trips in a…
The introduction of automated flight control and management systems have made possible aircraft designs that sacrifice arodynamic stability in order to incorporate stealth technology intro their shape, operate more efficiently, and are…
A procedure and theoretical results are presented for the problem of determining a minimal robust positively invariant (RPI) set for a linear discrete-time system subject to unknown, bounded disturbances. The procedure computes, via the…
In this paper, we consider the problems of state estimation and false data injection detection in smart grid when the measurements are corrupted by colored Gaussian noise. By modeling the noise with the autoregressive process, we estimate…
We propose a simple method for estimating crystal oscillator g-sensitivity in inertially aided Global Navigation Satellite System (GNSS) receivers. It does not require any specific equipment, like GNSS signal simulators or rate tables. The…
This paper presents an indoor occupancy estimator with which we can estimate the number of real-time indoor occupants based on the carbon dioxide (CO2) measurement. The estimator is actually a dynamic model of the occupancy level. To…
The present document aims at providing a short, didactical introduction to three standard versions of the Kalman filter, namely its variants identified as Basic, Extended, and Unscented. The application of these algorithms in three…
Maximum Causal Entropy (MCE) Inverse Optimal Control (IOC) has become an effective tool for modelling human behaviour in many control tasks. Its advantage over classic techniques for estimating human policies is the transferability of the…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…
The behaviour of electrical networks can be described with many different representations, each with their distinct benefits. In this paper, we consider Z, Y, G, H, ABCD, S and T parameters. Formulas exist to go from one representation to…