系统与控制
In this work, Global Position System (GPS) data from a flock of homing pigeons are analysed. The flocking behaviour of the considered homing pigeons is formulated as a swarm optimal trajectory tracking control problem. The swarm problem in…
This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
Mechanisms to coordinate transmission and distribution planning should be regulatory compliant and keep the spheres of DSO and TSO decisions separate, without requiring disclosure of proprietary data or unrealistic computationally expensive…
Follow-the-regularized-leader (FTRL) algorithms have become popular in the context of games, providing easy-to-implement methods for each agent, as well as theoretical guarantees that the strategies of all agents will converge to some…
Many engineered physical processes exhibit nonlinear but asymptotically stable dynamics that converge to a finite set of equilibria determined by control inputs. Identifying such systems from data is challenging: stable dynamics provide…
Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms. One of the key bottlenecks lies in the design of an…
State estimation uncertainty is prevalent in real-world applications, hindering the application of safety-critical control. Existing methods address this by strengthening a Control Barrier Function (CBF) condition either to handle actuation…
For status update systems operating over unreliable energy-constrained wireless channels, we address Weaver's long-standing Level-C question: do my packets actually improve the plant's behavior? Each fresh sample carries a stochastic…
We consider a hide-and-seek game between a Hider and a Seeker over a finite set of locations. The Hider chooses one location to conceal a stationary treasure, while the Seeker visits the locations sequentially along a route. As the search…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
We investigate three distinct methods of incorporating all-sky imager (ASI) images into deep learning (DL) irradiance nowcasting. The first method relies on a convolutional neural network (CNN) to extract features directly from raw RGB…
This paper introduces Galactic Bioware's Life Support System, a semi-closed-circuit breathing apparatus designed for integration into a positive-pressure firefighting suit and governed by an AI control system. The breathing loop…
Static synchronous compensators (STATCOMs) manage reactive power compensation in modern power grids and have become essential for the integration of renewable energy sources such as wind farms. Cascaded H bridges have become the preferred…
This paper proposes a distributed event-triggered control method that not only guarantees consensus of multi-agent systems but also satisfies a given LQ performance constraint. Taking the standard distributed control scheme with all-time…
This paper addresses the synthesis of an optimal fixed-gain distributed observer for discrete-time linear systems over wireless sensor networks. The proposed approach targets the steady-state estimation regime and computes fixed observer…
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
Hamilton-Jacobi (HJ) reachability analysis is a fundamental tool for the safety verification and control synthesis of nonlinear control systems. Classical HJ reachability analysis methods compute value functions over grids which discretize…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
This paper presents a novel structure-preserving, Kron-based reduction framework for unbalanced distribution feeders. The method aggregates electrically similar nodes within a mixed-integer optimization (MIP) problem to produce reduced…