系统与控制
Control barrier function (CBF)-based methods provide the minimum modification necessary to formally guarantee safety in the context of quadratic programming, and strict safety guarantee for safety critical systems. However, most CBF-related…
The growing integration of distributed integrated sensing and communication (ISAC) with closed-loop control in intelligent networks demands efficient information transmission under stringent bandwidth constraints. To address this challenge,…
We develop a Lyapunov-based small-gain theorem for establishing fixed-time input-to-state stability (FxT-ISS) guarantees in interconnected nonlinear dynamical systems. The proposed framework considers interconnections in which each…
As hyperscale and co-located data centers scale, the electric grid sees an increase in large, voltage-sensitive IT loads with these data center plant size ranging between 500 MW to 2 GW. A sudden loss of these loads as they switch to onsite…
While computation-enabled cryptosystems applied to control systems have improved security and privacy, a major issue is that the number of recursive operations on encrypted data is limited to a finite number of times in most cases,…
Pedestrian well-being is a critical yet rarely measured component of sustainable urban mobility and livable city design. Existing approaches to evaluating pedestrian environments often rely on static, infrastructure-based indices or…
This paper presents an elastic tube-based model predictive control (MPC) framework for unknown discrete-time linear systems subject to disturbances. Unlike most existing elastic tube-based MPC methods, we do not assume perfect knowledge of…
Controlling systems with complex, nonlinear dynamics poses a significant challenge, particularly in achieving efficient and robust control. In this paper, we propose a Dyna-Style Reinforcement Learning control framework that integrates…
Autonomous magnetic catheter systems are emerging as a promising approach for the future of minimally invasive interventions. This study presents a novel approach that begins by modeling the nonlinear and hysteretic dynamics of a…
An input-output model for networks with link uncertainty is developed. The main result presents a set of integral quadratic constraints (IQCs) that collectively imply robust stability of the uncertain network dynamics. The model dependency…
A feedback control system is proposed for balancing the deviations of water levels from set-points along open channels subject to uncertain supply-demand mismatch that exceeds individual pool capacity. Decentralized controllers adjust the…
Underground pumped hydro energy storage (UPHES) systems play a critical role in grid-scale energy storage for renewable integration, yet optimal day-ahead scheduling remains computationally prohibitive due to nonlinear turbine performance…
Cyber-Physical Systems (CPS) now support critical infrastructure spanning transportation, energy, manufacturing, medical devices, and autonomous robotics. Their defining characteristic is the tight coupling between digital computation and…
The growing complexity of power system operations has created an urgent need for intelligent, automated tools to support reliable and efficient grid management. Conventional analysis tools often require significant domain expertise and…
Underwater gliders are increasingly deployed in challenging missions - such as hurricane-season observations and long-endurance environmental monitoring - where strong currents and turbulence pose significant risks to navigation safety. To…
Natural disasters often inflict severe damage on distribution grids. Rapid, reliable damage assessment (DA) is essential for storm restoration, yet most optimization work targets repair dispatch after faults are identified. This paper…
This paper proposes a Safe Online Control-Informed Learning framework for safety-critical autonomous systems. The framework unifies optimal control, parameter estimation, and safety constraints into an online learning process. It employs an…
Electric propulsion is used to maximize payload capacity in communication satellites. These orbit raising maneuvers span several months and hundreds of revolutions, making trajectory design a complex challenge. The literature typically…
Roll-to-roll (R2R) manufacturing requires precise tension and velocity control under operational constraints. Model predictive control demands gradient computation, while sampling-based methods like MPPI struggle with hard constraint…
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary…