系统与控制
This paper studies the impact of rigidly attached heavy payload placement - where the payload mass significantly influences the UAV's dynamics - on the stability and control performance of a multirotor unmanned aerial vehicle (UAV). In…
Large Language Models (LLMs) such as ChatGPT promise revolutionary capabilities for Sixth-Generation (6G) wireless networks but their massive computational requirements and tendency to generate technically incorrect information create…
To address the issues of high operational costs and low energy efficiency (EE) caused by the dense deployment of small base stations (s-BSs) in 5G ultra-dense networks (UDNs), this paper first constructs a multi-objective mathematical…
Hybrid microgrids integrating Grid-Following (GFL) and Grid-Forming (GFM) inverters present complex control challenges arising from the decoupling between long-term economic dispatch and real-time dynamic regulation, as well as the distinct…
Power system outages expose market participants to significant financial risk unless promptly detected and hedged. We develop an outage identification method from public market signals grounded in the parametric quickest change detection…
We provide a complete motion-planning mechanism that ensures target tracking and obstacle avoidance in a cluttered environment. For a given polyhedral decomposition of the feasible space, we adopt a novel procedure that constrains the agent…
The growing demand for mobile data services in dense urban areas has intensified the need for energy-efficient radio access networks (RANs) in future 6G systems. In this context, one promising strategy is cell switching (CS), which…
Recent studies on transportation networks have shown that real-time route guidance can inadvertently induce congestion or oscillatory traffic patterns. Nevertheless, such technologies also offer a promising opportunity to manage traffic…
Nonlinear dynamics and safety constraints typically result in a nonlinear programming problem when applying model predictive control to achieve safe output consensus. To avoid the heavy computational burden of solving a nonlinear…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
This paper develops a guidance control law based on a parametric Guiding Vector Field (GVF) and integrates it with a state-of-the-art acceleration and attitude control architecture for tailsitters. The resulting framework enables a direct…
This paper develops certificates that propagate compatibility of multiple control barrier function (CBF) constraints from sampled vertices to their convex hull. Under mild concavity and affinity assumptions, we present three sufficient…
Since the launch of its first satellite in 2009, Tohoku University has continuously developed and operated Earth observation satellites and engineering demonstration satellites in the 50cm-class and CubeSat-class (up to 3U). The 50cm-class…
This paper describes the system design methodology derived from the development and evaluation tests of deployable solar panels to be mounted on a 3U CubeSat. The study mainly includes structural analysis, thermal analysis, and a review of…
Hokkaido University and Tohoku University have been developing and operating a constellation of 50-cm-class microsatellites for Earth observation. DIWATA-1, launched in 2016, was deployed into a circular orbit at an altitude of…
This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…
Grid resilience is crucial in light of power interruptions caused by increasingly frequent extreme weather events. Well-designed energy management systems (EMS) have made progress in improving microgrid resilience through the coordination…
Connectivity in connected and autonomous vehicles (CAVs) introduces vulnerability to cyber threats such as false data injection (FDI) attacks, which can compromise system reliability and safety. To ensure resilience, this paper proposes a…
We propose a novel framework that computes the corrective control efforts to ensure joint safety in multi-agent dynamical systems. This framework efficiently distributes the required corrective effort without revealing individual agents'…
Intelligent assistive technologies are increasingly recognized as critical daily-use enablers for people with disabilities and age-related functional decline. Longitudinal studies, curation of quality datasets, live monitoring in activities…