系统与控制
Inertial Velocity-Aided Attitude (VAA), the estimation of the velocity and attitude of a vehicle using gyroscope, accelerometer, and inertial-frame velocity (e.g. GPS velocity) measurements, is an important problem in the control of…
The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; that is, their state lies in a smooth manifold equipped with a transitive Lie group symmetry. This paper proposes…
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the…
Grid-interfacing inverters serve as the interface between renewable energy resources and the electric power grid, offering fast, programmable control capabilities. However, their operation is constrained by hardware limitations, such as…
This paper presents a super realized gain, circularly polarized strip-crossed dipole antenna operating at 3.5 GHz. Superdirective behavior is achieved by leveraging strong inter-element mutual coupling through careful adjustment of the…
This paper presents a customized microgrid planning algorithm and tool, HyMGP, for remote sites in arid regions, which is formulated as a Mixed Integer Linear Programming (MILP) problem. HyMGP is compared with HOMER Pro to evaluate its…
This paper investigates reachability analysis for max-plus linear systems (MPLS), an important class of dynamical systems that model synchronization and delay phenomena in timed discrete-event systems. We specifically focus on backward…
Natural hazards such as hurricanes and floods damage power grid equipment, forcing operators to replan restoration repeatedly as new information becomes available. This paper develops a deep reinforcement learning (DRL) dispatcher that…
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking with Lie bracket-based design to achieve approximately…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
Neural networks have become dominant computational workloads across cloud and edge platforms, but their rapid growth in model size and deployment diversity has exposed hardware bottlenecks increasingly dominated by memory movement,…
The operation of residential energy hubs with multiple energy carriers (electricity, heat, mobility) poses a significant challenge due to different carrier dynamics, hybrid storage coordination and high-dimensional action-spaces. Energy…
The semi-tensor product of vectors generalizes the conventional inner product, enabling algebraic operations between vectors of different dimensions. Building upon this foundation, we introduce a domain-based convolutional product and…
This paper presents the FS-Planner, a fast graph-search planner based on a modified Lazy Theta* algorithm that exploits the analytical properties of Euclidean Distance Fields (EDFs). We introduce a new cost function that integrates an…
Efficient trajectory generation is crucial for autonomous systems; however, current numerical methods often struggle to handle periodic behaviors effectively, particularly when the onboard sensors require equidistant temporal sampling. This…
Certifying safety in dynamical systems is crucial, but barrier certificates - widely used to verify that system trajectories remain within a safe region - typically require explicit system models. When dynamics are unknown, data-driven…
The Python Battery Optimisation and Parameterisation (PyBOP) package provides methods for estimating and optimising battery model parameters, offering both deterministic and stochastic approaches with example workflows to assist users.…
Piezoelectric fast steering mirrors (PFSM) are widely utilized in beam precision-pointing systems but encounter considerable challenges in achieving high-precision tracking of fast trajectories due to nonlinear hysteresis and mechanical…
We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular, we propose an adaptive economic model predictive control…
We establish a high-precision composite model for a piezoelectric fast steering mirror (PFSM) using a Hammerstein structure. A novel asymmetric Bouc-Wen model is proposed to describe the nonlinear rate-independent hysteresis, while a…