相关论文: Optimal Sensor and Actuator Placement in Complex D…

Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this paper aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators…

We address the problem of minimal actuator placement in linear systems so that the volume of the set of states reachable with one unit or less of input energy is lower bounded by a desired value. First, following the recent work of…

Advances in methods of biological data collection are driving the rapid growth of comprehensive datasets across clinical and research settings. These datasets provide the opportunity to monitor biological systems in greater depth and at…

Network control refers to a very large and diverse set of problems including controllability of linear time-invariant dynamical systems, where the objective is to select an appropriate input to steer the network to a desired state. There…

Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…

Controllability and observability Gramians, along with their inverses, are widely used to solve various problems in control theory. This paper proposes spectral decompositions of the controllability Gramian and its inverse based on system…

This paper studies the problem of optimal placement of water quality (WQ) sensors in water distribution networks (WDNs), with a focus on chlorine transport, decay, and reaction models. Such models are traditionally used as suitable proxies…

We introduce an easily computable topological measure which locates the effective crossover between segregation and integration in a modular network. Segregation corresponds to the degree of network modularity, while integration is…

In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…

In this paper, the problem of choosing the best allocation of excitations and measurements for the identification of a dynamic network is formally stated and analyzed. The best choice will be one that achieves the most accurate…

Unveiling feeder topologies from data is of paramount importance to advance situational awareness and proper utilization of smart resources in power distribution grids. This tutorial summarizes, contrasts, and establishes useful links…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

In this paper, we propose a preliminary definition and analysis of the novel concept of sensor observability index. The goal is to analyse and evaluate the performance of distributed directional or axial-based sensors to observe specific…

Pinning control of a complex network aims at forcing the states of all nodes to track an external signal by controlling a small number of nodes in the network. In this paper, an algebraic graph-theoretic condition is introduced to optimize…

This paper presents a closed-form notion of controllability and observability for systems with communication delays, actuation delays, and locality constraints. The formulation reduces to classical notions of controllability and…

To monitor electrical activity throughout the power grid and mitigate outages, sensors known as phasor measurement units can installed. Due to implementation costs, it is desirable to minimize the number of sensors deployed while ensuring…

This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…

The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft…

Despite the significant advances in identifying the driver nodes and energy requiring in network control, a framework that incorporates more complicated dynamics remains challenging. Here, we consider the conformity behavior into network…

A problem of vibration control of smart beams was addressed in various publications which primarily utilize collocated sensors and actuators and neglect the effect of measurement noise in the observer design. This paper develops a natural…