系统与控制
This paper proposes a novel Kernelized Data-Driven Predictive Control (KDPC) scheme for robust, offset-free tracking of nonlinear systems. Our computationally efficient hybrid approach separates the prediction: (1) kernel ridge regression…
The growing scale of modern farms has increased the need for efficient and adaptive multi-agent coverage strategies for pest, weed, and disease management. Traditional methods such as manual inspection and blanket pesticide spraying often…
This paper proposes a frequency-wise approach for stability analysis of multi-input, multi-output (MIMO) Linear Time-Invariant (LTI) feedback systems through Scaled Relative Graphs (SRGs). Unlike traditional methods, such as the Generalized…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
In this paper, we address the model reduction problem for linear hybrid systems via the interconnection-based technique called moment matching. We consider two classical interconnections, namely the direct and swapped interconnections, in…
This paper presents the Dynamic Tactile Sensing System that utilizes robotic tactile sensing in conjunction with reinforcement learning to locate and characterize embedded inclusions. A dual arm robot is integrated with an optical Tactile…
This paper presents a novel approach to stability analysis for grid-connected converters utilizing Scaled Relative Graphs (SRG). Our method effectively decouples grid and converter dynamics, thereby establishing a comprehensive and…
Adaptive traffic signal control (TSC) has demonstrated strong effectiveness in managing dynamic traffic flows. However, conventional methods often struggle when unforeseen traffic incidents occur (e.g., accidents and road maintenance),…
PURPOSE OR GOAL: This study investigates how GenAI can be integrated with a criterion-referenced grading framework to improve the efficiency and quality of grading for mathematical assessments in engineering. It specifically explores the…
This paper presents the modeling, control design, and performance analysis of a Magnetic Ball Suspension System (MBSS), a nonlinear and inherently unstable electromechanical system used in various precision applications. The system's…
The dense concentration of low-altitude, slow-speed, and small-size targets in the complex low-altitude environment poses significant security challenges, including failures in continuous wide-area sensing and ambiguous target intent, which…
The operational lifetime of energy-harvesting wireless sensor nodes is limited by availability of the energy source and the capacity of the installed energy buffer. When a sensor node depletes its energy reserves, manual intervention is…
In low-carbon grids, system flexibility can be enhanced through mechanisms such as Demand Response (DR), enabling the efficient utilization of renewable energy. However, as Synchronous Generators (SGs) are being replaced by renewable energy…
In post-disaster scenarios, the rapid deployment of adequate communication infrastructure is essential to support disaster search, rescue, and recovery operations. To achieve this, uncrewed aerial vehicle (UAV) has emerged as a promising…
This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…
To achieve global coverage and ubiquitous connectivity, the non-terrestrial network (NTN) has been regarded as a key enabler in the sixth generation (6G) network, which includes uncrewed aerial vehicles (UAVs), high-altitude platforms…
Control Barrier Functions (CBFs) enforce safety by rendering a prescribed safe set forward invariant. However, standard CBFs are limited to safety constraints with relative degree one, while High-Order CBF (HOCBF) methods address higher…
This paper proposes a two-stage stochastic optimization formulation to determine optimal operation and procurement plans for achieving a 24/7 carbon-free energy (CFE) compliance at minimized cost. The system in consideration follows primary…
This paper develops an instantaneous-frequency (IF) local estimator calculated with the complex Teager-Kaiser energy operator (CTKEO) and the dynamic-signal identity. The contribution is a novel IF expression that makes the…
This paper studies the design of detection observers against stealthy bias injection attacks in stochastic linear systems under Gaussian noise, considering adversaries that exploit noise and inject crafted bias signals into a subset of…