系统与控制
In this paper we propose a novel semi-definite programming based method to compute robust domains of attraction for state-constrained perturbed polynomial systems. A robust domain of attraction is a set of states such that every trajectory…
Power converters are present in increasing numbers in the electric power grid. They are a major source of harmonic currents and voltages, which can reduce power quality and trip protection devices. The frequency coupling matrix (FCM) is a…
Observabililty is an important topic of Boolean control networks (BCNs). In this paper, we propose a new type of observability named online observability to present the sufficient and necessary condition of determining the initial states of…
The inherent storage of plug-in electric vehicles is likely to foster the integration of intermittent generation from renewable energy sources into existing power systems. In the present paper, we propose a three-stage scheme to the end of…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
Complex networks are a successful framework to describe collective behaviour in many applications, but a notable gap remains in the current literature, that of proving asymptotic convergence in networks of piecewise-smooth systems. Indeed,…
The sit-to-stand movement is a key feature for wide adoption of powered lower limb orthoses for patients with complete paraplegia. In this paper we study the control of the ascending phase of the sit-to-stand movement for a minimally…
A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainties and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb…
This study presents a technique to safely control the Sit-to-Stand movement of powered lower limb orthoses in the presence of parameter uncertainty. The weight matrices used to calculate the finite time horizon linear-quadratic regulator…
In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements.…
A decomposition principle for nonlinear dynamic compartmental systems is introduced in the present paper. This theory is based on the mutually exclusive and exhaustive, analytical and dynamic, novel system and subsystem partitioning…
The system decomposition theory has recently been developed for the dynamic analysis of nonlinear compartmental systems. The application of this theory to the ecosystem analysis has also been introduced in a separate article. Based on this…
As renewable wind energy penetration rates continue to increase, one of the major challenges facing grid operators is the question of how to control transmission grids in a reliable and a cost-efficient manner. The stochastic nature of wind…
The goal of this paper is to understand the impact of learning on control synthesis from a Lyapunov function perspective. In particular, rather than consider uncertainties in the full system dynamics, we employ Control Lyapunov Functions…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
In this paper we document a novel laboratory experimental platform for non-contact planar manipulation (positioning) of millimeter-scale objects using acoustic pressure. The manipulated objects are either floating on a water surface or…
In this note we develop the theory of the quantum Pontryagin principle for continuous measurements and feedback. The analysis is carried out under the assumption of compatible events in the output channel. The plant is a quantum system,…
This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…
This paper studies the vulnerability of large-scale power systems to false data injection (FDI) attacks through their physical consequences. Prior work has shown that an attacker-defender bi-level linear program (ADBLP) can be used to…
In this paper we deal with a network of agents seeking to solve in a distributed way Mixed-Integer Linear Programs (MILPs) with a coupling constraint (modeling a limited shared resource) and local constraints. MILPs are NP-hard problems and…