系统与控制
Ensuring safe real-time control of ship-mounted cranes in unstructured transportation environments requires handling multiple safety constraints while maintaining effective payload transfer performance. Unlike traditional crane systems,…
This paper offers a data-driven divide-and-conquer strategy to analyze large-scale interconnected networks, characterized by both unknown mathematical models and interconnection topologies. Our data-driven scheme treats an unknown network…
This paper presents a distributed solution for the problem of collaborative collision avoidance for autonomous inland waterway ships. A two-layer collision avoidance framework that considers inland waterway traffic regulations is proposed…
Regional watersheds are complex systems of systems encompassing hydrology, land-use decision-making, estuarine ecological feedbacks, and overlapping governance jurisdictions. Their effective management underlies many modern societal…
We investigate the problem of establishing finite-time probabilistic safety guarantees for discrete-time stochastic dynamical systems subject to unknown disturbance distributions, using barrier certificate methods. Our approach develops a…
This paper introduces a novel metric, termed the Generalized Fiedler Vector (GFV), to evaluate the \textit{dynamic connectivity} in power systems. The proposed metric leverages the network connectivity, represented by the system Laplacian…
With the increasing penetration of renewable energy sources, grid-forming (GFM) inverters are becoming essential for voltage and frequency regulation. However, the transient stability of GFM inverter is critically affected by the current…
In this paper, we investigate the coordination of vehicle maneuvers in mixed-traffic corridors where connected and automated vehicles, human-driven vehicles, and buses interact under dedicated bus lane operations. We develop a segment-based…
The growing integration of electric vehicle (EV) fleets into transportation services and energy systems requires accurate modeling of battery discharge and state-of-charge (SoC) evolution to ensure reliable vehicle operation and grid…
Koopman operator provides a general linear description of nonlinear systems, whose estimation from data (via extended dynamic mode decomposition) has been extensively studied. However, the elusiveness between the Koopman spectrum and the…
Modern cyber-physical systems, such as automotive control, rely on feedback controllers that regulate the system towards desired a setpoint. In practice, however, the controller must also be scheduled efficiently on resource-constrained…
Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…
This paper considers the flexibility degradation problem caused by excessive flexible ramping product (FRP) requirements with high variable energy resource (VER) penetration}. Based on the rolling-window co-optimization model of energy and…
Reconfigurable intelligent surface (RIS) constitutes a disruptive technology for enhancing vehicular communication performance through reconfigurable propagation environments. In this paper, we propose an adaptive channel estimation…
Capacity expansion models are frequently used to inform multi-billion dollar grid infrastructure decisions, a context in which there is significant uncertainty surrounding the future need for and performance of such infrastructure. However,…
The recently introduced notions of ranking functions and closure certificates utilize well-foundedness arguments to facilitate the verification of dynamical systems against $\omega$-regular properties. A ranking function and a closure…
Accurate reference trajectories are required to validate autonomous agricultural robots and highly automated off-road vehicles under real-world field conditions. In practice, robotic total stations provide millimeter-level prism center…
Due to their expressive power, neural networks (NNs) are promising templates for functional optimization problems, particularly for reach-avoid certificate generation for systems governed by stochastic differential equations (SDEs).…
This paper proposes HyperKKL, a novel learning approach for designing Kazantzis-Kravaris/Luenberger (KKL) observers for non-autonomous nonlinear systems. While KKL observers offer a rigorous theoretical framework by immersing nonlinear…
This work addresses the edge-based synchronization problem in first-order multi-agent systems containing both cooperative and antagonistic interactions with one or multiple leader groups. The presence of multiple leaders and antagonistic…