系统与控制
In this paper, we show how informativity and identifiability for networks of dynamical systems can be investigated using Gr\"obner bases. We provide a sufficient condition for informativity in terms of positive definiteness of the spectrum…
We demonstrate that the error dynamics of a thrusting spacecraft are nearly group affine on the $SE_2(3)$ Lie group, and the nonlinearity can be bounded, or removed with the application of a dynamic inversion control law. A numerical…
This paper presents a Gain-Scheduled Data-Enabled Predictive Control (GS-DeePC) framework for nonlinear systems based on multiple locally linear data representations. Instead of relying on a single global Hankel matrix, the operating range…
Quantized CNN inference on ultra-low-power MCUs incurs unnecessary computations in neurons that produce saturated output values. These values are too extreme and are eventually clamped to the boundaries allowed by the neuron. Often times,…
Engineering design involves demanding models encompassing many decision variables and uncontrollable parameters. In addition, unavoidable aleatoric and epistemic uncertainties can be very impactful and add further complexity. The…
A recently proposed 3-D adaptive line-of-sight (ALOS) path-following algorithm addressed coupled motion dynamics of marine craft, aircraft and uncrewed vehicles under environmental disturbances such as wind, waves and ocean currents.…
This paper investigates the vulnerability of discrete-time linear time-invariant systems to stealthy sensor attacks during the learning phase. In particular, we demonstrate that a {data-driven} adversary, without access to the system model,…
Accurate and efficient uncertainty quantification is essential for resilience assessment of modern power systems under high impact and low probability disturbances. Data driven sparse polynomial chaos expansion (DDSPCE) provides a…
This paper presents an aggressiveness-aware control framework for quadrotor UAVs that integrates learning-based oracles to mitigate the effects of unknown disturbances. Starting from a nominal tracking controller on $\mathrm{SE}(3)$,…
The energy and thermal management systems of hybrid electric vehicles (HEVs) are inherently interdependent. With the ongoing deployment of intelligent transportation systems (ITSs) and increasing vehicle connectivity, the integration of…
This technical note proposes a novel airspace complexity metric that quantifies the air traffic controller workload and coordination effort for pairwise predecessor-follower aircraft operations in cruise. The pairwise dynamic workload (PDW)…
Reinforcement learning for traffic signal control is bottlenecked by simulators: training in SUMO takes hours, reproducing results often requires days of platform-specific setup, and the slow iteration cycle discourages the multi-seed…
This paper presents a learning-based tracking control framework for cooperative transport of a rigid payload by multiple aerial manipulators under rigid grasp constraints. A unified geometric model is developed, yielding a coupled…
A recurring theme in optimal controller design for wireless networked control systems (WNCS) is the reliance on real-time channel state information (CSI). However, acquiring accurate CSI a priori is notoriously challenging due to the…
We address the synchronization problem in open multi-agent systems (OMAS) containing both cooperative and antagonistic interactions. In these systems, agents can join or leave the network over time, and the interaction structure may evolve…
The growing integration of distributed photovoltaics (PVs) into active distribution networks (ADNs) has exacerbated operational challenges, making it imperative to coordinate diverse equipment to mitigate voltage violations and enhance…
Most existing studies achieve beamforming by adjusting the positions of pinching antennas (PAs) and typically model PAs as isotropic radiators. However, under the dielectric scatterer model, the PA radiation pattern depends on its geometry.…
The difficulty with control of population dynamics, besides the states being positive and the control having to also be positive, is the extreme difference in the dynamics near extinction and at overpopulated states. As hard as global…
While the rapid proliferation of electric vehicles (EVs) accelerates net-zero goals, uncoordinated charging activities impose severe operational challenges on distribution grids, including exacerbated peak loads, thermal overloading, and…
As satellites have proliferated, interest has increased in autonomous rendezvous, proximity operations, and docking (ARPOD). A fundamental challenge in these tasks is the uncertainties when operating in space, e.g., in measurements of…