系统与控制

We present a novel framework that jointly trains a neural network controller and a neural Riemannian metric with rigorous closed-loop contraction guarantees using formal bound propagation. Directly bounding the symmetric Riemannian…

We present a radar sensing framework based on a low-complexity, quantized reconfigurable intelligent surface (RIS) that enables programmable manipulation of electromagnetic wavefronts for enhanced detection in non-specular and shadowed…

A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a…

In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…

Car-following behavior is fundamental to traffic flow theory, yet traditional models often fail to capture the stochasticity of naturalistic driving. This paper introduces a new car-following modeling category called the empirical…

This paper investigates one-step backward reachability for uncertain max-plus linear systems with additive disturbances. Given a target set, the problem is to compute the set of states from which there exists an admissible control input…

Ensuring both safety and stability remains a fundamental challenge in learning-based control, where goal-oriented policies often neglect system constraints and closed-loop state convergence. To address this limitation, this paper introduces…

This paper presents a novel method for estimating larger Region of Attractions (ROAs) for continuous-time nonlinear systems modeled via the Takagi-Sugeno (TS) framework. While classical approaches rely on a single TS representation derived…

The rapid growth of GPU-heavy data centers has significantly increased electricity demand and creating challenges for grid stability. Our paper investigates the extent to which an energy-aware job scheduling algorithm can provide…

In recent years, the contribution of renewable energy resources to the electrical grid has increased drastically; the most common of these are photovoltaic solar panels and wind turbines. These resources rely on inverters to interface with…

Replay attacks comprise replaying previously recorded sensor measurements and injecting malicious signals into a physical plant, causing great damage to cyber-physical systems. Replay attack detection has been widely studied for linear…

In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…

This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filter is based on a constrained least squares estimator with…

Measuring sediment transport in riverbeds has long been a challenging research problem in geomorphology and river engineering. Traditional approaches rely on direct measurements using sediment samplers. Although such measurements are often…

This paper addresses the security allocation problem within networked control systems, which consist of multiple interconnected control systems under the influence of two opposing agents: a defender and a malicious adversary. The adversary…

Data-driven modeling is playing an increasing role in robotics and control, yet standard learning methods typically ignore the geometric structure of nonholonomic systems. As a consequence, the learned dynamics may violate the nonholonomic…

This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…

This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…

Effective co-optimization of energy management strategy (EMS) and thermal management (TM) is crucial for optimizing fuel efficiency in hybrid electric vehicles (HEVs). Driving conditions significantly influence the performance of both EMS…

This paper investigates the nonlinear dynamics and phase transitions in power packet network connected with routers, conceptualized as macroscopic information-ratchets. In the emerging paradigm of cyber-physical energy systems, the…