系统与控制
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
This paper studies the problem of steering large-scale multi-agent stochastic linear systems between Gaussian distributions under probabilistic collision avoidance constraints. We introduce a family of \textit{distributed covariance…
Carbon-aware grid optimization relies on accurate locational emission metrics to effectively guide demand-side decarbonization tasks such as spatial load shifting. However, existing metrics are only valid around limited operating regions…
Distributed Port-Hamiltonian (dPHS) theory provides a powerful framework for modeling physical systems governed by partial differential equations and has enabled a broad class of boundary control methodologies. Their effectiveness, however,…
Safety filters based on control barrier functions (CBFs) and high-order control barrier functions (HOCBFs) are often implemented through quadratic programs (QPs). In general, especially in the presence of multiple constraints, feasibility…
Control barrier function (CBF)-QP safety filters enforce safety by minimally modifying a nominal controller. While prior work has mainly addressed robustness of safety under uncertainty, robustness of the resulting closed-loop…
Shaping the reachable set of a dynamical system is a fundamental challenge in control design, with direct implications for both performance and safety. This paper considers the problem of selecting the optimal input matrix for a linear…
Accurate modeling of magnetic hysteresis is essential for high-fidelity power electronics device simulations. The transient hysteresis phenomena such as the ringing effect and the minor loops are the bottleneck for the accurate hysteresis…
The electrification and ongoing energy transition lead to systematic changes in electricity loading and variability in power systems. Distribution systems were designed for regular operating patterns, assuming constant low loading. Now,…
There has been widespread global increasing use of renewable energy sources, which are usually connected to the electricity grids via power electronic inverters. Traditionally, these inverter-based resources operate in either grid-forming…
The Internet of Underwater Things (IoUT) supports ocean sensing and offshore monitoring but requires coordinated mobility and energy-aware communication to sustain long-term operation. This letter proposes a multi-AUV framework that jointly…
We investigate the enforcement of opacity in discrete-event systems via supervisory control. A system is said to be opaque if a passive intruder can never unambiguously infer whether the system is in a secret state through its observations.…
In this paper, we investigate the probabilistic formal verification of stochastic dynamical systems over continuous state spaces. Motivated by problems in state estimation and information-flow security, we introduce the notion of…
Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting their ability to capture interacting…
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizations such as Euler angles. We propose a novel Periodic…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a…
This work develops a duality theory for partially observed linear Gaussian models in discrete time. The state process evolves according to a causal but non-Markovian (or higher-order Gauss-Markov) structure, captured by a lower-triangular…
Age-structured predator-prey integro-partial differential equations provide models of interacting populations in ecology, epidemiology, and biotechnology. A key challenge in feedback design for these systems is the scalar $\zeta$, defined…
Many safety-critical control systems must operate under latent uncertainty that sensors cannot directly resolve at decision time. Such uncertainty, arising from unknown physical properties, exogenous disturbances, or unobserved environment…