系统与控制
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manuscript develops a nonlinear model predictive control (MPC)…
Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections…
Electromagnetic formation flight (EMFF) uses the electromagnetic force to control the relative positions of multiple satellites without using conventional fuel-based propulsion. To compensate for the electromagnetic torque generated…
Multi-agent systems play a central role in area coverage tasks across search-and-rescue, environmental monitoring, and precision agriculture. Achieving non-uniform coverage, where spatial priorities vary across the domain, requires…
Controllers designed with reinforcement learning can be sensitive to model mismatch. We demonstrate that designing such controllers in a virtual simulation environment with an inaccurate model is not suitable for deployment in a physical…
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual dynamics that can be expressed by Koopman operators. Such…
We consider the problem of efficiently learning to play single-leader multi-follower Stackelberg games when the leader lacks knowledge of the lower-level game. Such games arise in hierarchical decision-making problems involving…
This paper proposes a system identification algorithm for systems with multi-rate sensors in a discrete-time framework. It is challenging to obtain an accurate mathematical model when the ratios of inputs and outputs are different in the…
As the proportion of renewable energy and power electronics in the power system increases, modeling frequency dynamics under power deficits becomes more challenging. Although data-driven methods help mitigate these challenges, they are…
Chlorine, the most widely used disinfectant, needs to be adequately distributed in water distribution networks (WDNs) to maintain consistent residual levels and ensure safe water. This is performed through control node injections at the…
With high penetrations of renewable energy and power electronics converters, less predictable operating conditions and strong uncertainties in under-frequency events pose challenges for emergency frequency control (EFC). On the other hand,…
Post-harvest losses due to subjective quality assessment cause significant damage to the economy and food safety, especially in countries like Bangladesh. To mitigate such damages, objective decision-making backed by scientific methods is…
The success of large language models LLMs amplifies the need for highthroughput energyefficient inference at scale. 3DDRAMbased accelerators provide high memory bandwidth and therefore an opportunity to accelerate the bandwidthbound decode…
Preliminary mission design of low-thrust spacecraft trajectories in the Circular Restricted Three-Body Problem is a global search characterized by a complex objective landscape and numerous local minima. Formulating the problem as sampling…
Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments relies on dimensional analysis and the…
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components, leveraging structural properties of the system dynamics. The…
Modern power networks face increasing vulnerability to cascading failures due to high complexity and the growing penetration of intermittent resources, necessitating rigorous security assessment beyond the conventional $N-1$ criterion.…
This study proposes a systematic design procedure for determining the quantization gain and the security parameter in the Confidential Fictitious Reference Iterative Tuning (CFRIT), enabling overflow-free and accuracy-guaranteed encrypted…
In this paper, an MPC for tracking formulation is proposed for the control of anesthesia dynamics. It seamlessly enables the optimization of the steady-states pair that is not unique due to the MISO nature of the model. Anesthesia dynamics…
Time delays in communication channels present significant challenges for bilateral teleoperation systems, affecting both transparency and stability. Although traditional wave variable-based methods for a four-channel architecture ensure…