系统与控制
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dynamics, we combine a geometric tracking…
Precise tension control in roll-to-roll (R2R) manufacturing is difficult under varying operating conditions and process uncertainty. This paper presents a curriculum-based Soft Actor-Critic (SAC) controller for multi-section R2R tension…
Accurate fault detection and localization in electrical distribution systems is crucial, especially with the increasing integration of distributed energy resources (DERs), which inject greater variability and complexity into grid…
High-impedance arc faults (HIAFs) in medium-voltage electrical distribution systems are difficult to detect due to their low fault current levels and nonlinear transient behavior. Traditional detection algorithms generally struggle with…
This paper presents a hybrid energy system (HES) experimental testbed developed at the University of Vermont, featuring a dual-site architecture that integrates on-campus laboratory facility with an off-campus solar and meteorological…
We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-tilting propeller and three propellers mounted on passive…
The notions of $r$-robustness and $(r,s)$-robustness of a network have been earlier introduced in the literature to achieve resilient consensus in the presence of misbehaving agents. However, while higher robustness levels enable networks…
We propose a decentralized framework to analytically guarantee the small-signal stability of future power systems with grid-forming converters. Our approach leverages dynamic loop-shifting techniques to compensate for the lack of passivity…
A large body of simulation research suggests that model predictive control (MPC) and reinforcement learning (RL) for heating, ventilation, and air-conditioning (HVAC) in residential and commercial buildings could reduce energy costs,…
We prove input-to-state stability (ISS) of perturbed Newton-type methods for generalized equations arising from Nash equilibrium (NE) and generalized NE (GNE) problems. This ISS property allows the use of inexact computations in…
Reconfigurable intelligent surfaces have emerged as a promising hardware platform for shaping wireless propagation environments at millimeter-wave (mm-Wave) frequencies and beyond. While many existing studies emphasize channel modeling and…
We propose a signal temporal logic (STL)-based framework that rigorously verifies the feasibility of a mission described in STL and synthesizes control to safely execute it. The proposed framework ensures safe and reliable operation through…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
This paper addresses the steady state covariance steering for linear dynamical systems via structural intervention on the system matrix. We formulate the covariance steering problem as the minimization of the Kullback-Leibler (KL)…
Emerging applications such as autonomous driving and industrial automation demand ultra-reliable and low-latency communication (URLLC), where maintaining fresh and timely information is critical. A key performance metric in such systems is…
Opacity has emerged as a central confidentiality notion for information-flow security in discrete event systems (DES), capturing the requirement that an external observer (intruder) should never be able to determine with certainty whether…
The next industrial revolution, Industry 5.0, will be driven by advanced technologies that foster human-machine collaboration (HMC). It will leverage human creativity, judgment, and dexterity with the machine's strength, precision, and…
How much energy, money, and emissions can advanced control of heating and cooling equipment save in real buildings? To address this question, researchers sometimes control a small number of thermal zones within a larger multi-zone building,…
Small, low-size, weight, power, and cost (SWaP-C) uncrewed aerial vehicles (UAVs) are increasingly used for intelligence, surveillance, and reconnaissance (ISR) missions due to their affordability, attritability, and suitability for…