系统与控制
This thesis presents the development of ARGUS, a framework for mission planning for Unmanned Ground Vehicles (UGVs) in tactical environments. The system is designed to translate battlefield complexity and the commander's intent into…
This note presents an online pseudospectral method for system identification using Chebyshev polynomial basis under aperiodic sampling. The system dynamics are approximated piecewise by introducing a sliding time window. The number of…
Varying dynamics pose a fundamental difficulty when deploying safe control laws in the real world. Safety Index Synthesis (SIS) deeply relies on the system dynamics and once the dynamics change, the previously synthesized safety index…
Inspired by the widespread concept of Lyapunov-Krasovskii functionals of complete type, this article proposes an alternative class of functionals, termed Lyapunov-Krasovskii functionals of robust type. Their construction aims at improving…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
Emerging 6G wireless systems suffer severe performance degradation in challenging environments like high-speed trains traversing dense urban corridors and Unmanned Aerial Vehicles (UAVs) links over mountainous terrain. These scenarios…
The rapid growth of data centres poses an evolving challenge for power systems with high variable renewable energy. Traditionally operated as passive electrical loads, data centres, have the potential to become active participants that…
The objective of this paper is to investigate graph-theoretic conditions for structural herdability of an LTI system. In particular, we are interested in the structural sign (SS) herdability of a system wherein the underlying digraph…
The growing integration of renewable energy sources (RESs) in modern power systems has intensified the need for resilient and efficient microgrid solutions. DC microgrids have gained prominence due to their reduced conversion losses,…
Classical phasor analysis is fundamentally limited to sinusoidal single-frequency conditions, which poses challenges when working in the presence of harmonics. Furthermore, the conventional solution, which consists of decomposing signals…
This paper presents a Koopman-based model predictive control (MPC) framework for safe UAV navigation in dynamic environments using real-time LiDAR data. By leveraging the Koopman operator to linearly approximate the dynamics of surrounding…
Lithium-ion (Li-ion) batteries are ubiquitous in electric vehicles (EVs) as efficient energy storage devices. The reliable operation of Li-ion batteries depends critically on the accurate estimation of battery capacity. However,…
In this paper, the problem of distributed state estimation of human-driven vehicles (HDVs) by connected autonomous vehicles (CAVs) is investigated in mixed traffic transportation systems. Toward this, a distributed observable state-space…
This project investigates traffic congestion within North Campus, Delhi University (DU), using continuous time simulations implemented in UXSim to model vehicle movement and interaction. The study focuses on several key intersections,…
Opinion dynamics has recently been modeled from a game-theoretic perspective, where opinion updates are captured by individuals' cost functions representing their motivations. Conventional formulations aggregate multiple motivations into a…
Enhancing the reliability of AI based fault diagnosis in inverter dominated microgrids requires diverse and statistically balanced datasets. However, the scarcity and imbalance of high fidelity fault data, especially for rare inverter…
Accurate Channel State Information (CSI) is critical for Hybrid Beamforming (HBF) tasks. However, obtaining high-resolution CSI remains challenging in practical wireless communication systems. To address this issue, we propose to utilize…
Traditional statistical optimization-based state estimation (DSSE) algorithms rely on detailed grid parameters and mathematical assumptions of all possible uncertainties. Furthermore, random data missing due to communication failures,…
This paper aims to proactively diagnose and manage the voltage collapse risks, i.e., the risk of bus voltages violating the safe operational bounds, which can be caused by extreme events and contingencies. We jointly answer two…
In this paper, we address the problem of data-driven stabilization of continuous-time multi-input multi-output (MIMO) linear time-invariant systems using the input-output data collected from an experiment. Building on recent results for…