系统与控制
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
Adaptive control achieves concurrent parameter learning and stable control under uncertainties that are linearly parameterized with known nonlinear features. Nonetheless, it is often difficult to obtain such nonlinear features. To address…
In this paper, we examine the role of stochastic quantizers for privacy preservation. We first employ a static stochastic quantizer and investigate its corresponding privacy-preserving properties. Specifically, we demonstrate that a…
This paper introduces a comprehensive approach to optimize parking efficiency for connected and Automated vehicle (CAVs) fleets. We present a multi-vehicle parking simulator, equipped with hierarchical path planning and collision avoidance…
We present verifiable conditions for synthesizing a single smooth Lyapunov function that certifies both asymptotic stability and safety under bounded controls. These sufficient conditions ensure the strict compatibility of a control barrier…
Certifying feasibility in decision-making, critical in many industries, can be framed as a constraint satisfaction problem. This paper focuses on characterising a subset of parameter values from an a priori set that satisfy constraints on a…
This paper presents a security-constrained optimal power flow (SCOPF) model for HVDC grids that optimizes the asymmetrical operation of bipolar converter stations, i.e., different current injections of the positive and negative converter…
Solar thermal systems (STS) present a promising avenue for low-carbon heat generation, with a well-running system providing heat at minimal cost and carbon emissions. However, STS can exhibit faults due to improper installation,…
Modern aerospace defense systems increasingly rely on autonomous decision-making to coordinate large numbers of interceptors against multiple incoming threats. Conventional weapon-target assignment (WTA) algorithms, including mixed-integer…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
Vessels navigating in confined waters are subject to banking effects, which are hydrodynamic forces and moments arising from pressure differentials between the vessel sides, significantly affecting manoeuvrability and safety. Existing…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
Hybrid assistive systems that integrate functional electrical stimulation (FES) and robotic exoskeletons offer a promising approach for neurorehabilitation. However, control of these systems remains challenging due to actuator redundancy…
Barrier certificates play an important role in verifying the safety of continuous-time systems, including autonomous driving, robotic manipulators and other critical applications. Recently, ReLU neural barrier certificates -- barrier…
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…
Controlling mixed platoons, which consist of both connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), poses significant challenges due to the uncertain and unknown human driving behaviors. Data-driven control methods…
This paper studies observability for non-uniform hypergraphs with inputs and outputs. To capture higher-order interactions, we define a canonical non-homogeneous dynamical system with nonlinear outputs on hypergraphs. We then construct…
The DistFlow model accurately represents power flows in distribution systems, but the model's nonlinearities result in computational challenges for many applications. Accordingly, a linear approximation known as \mbox{LinDistFlow} (and its…
The paper is a follow-up of the recently introduced kernel-based framework to identify nonlinear input-output systems regularized by desirable input-output incremental properties. Assuming that the system has fading memory, we propose to…
The concept of a security index quantifies the minimum number of components that must be compromised to carry out an undetectable attack. This metric enables system operators to quantify each component's security risk and implement…