相关论文: Decentralized Observer Design for Virtual Decompos…
The aim of this work is to utilize an adaptive decentralized control method called virtual decomposition control (VDC) to control the orientation and position of the end-effector of a 7 degrees of freedom (DoF) right-hand upper-limb…
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…
Vast industrial investment along with increased academic research on heavy-duty hydraulic manipulators has unavoidably paved the way for their automatization, necessitating the design of robust and high-precision controllers. In this study,…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
This paper focuses on designing completely decentralized load frequency control (LFC) for multi-area power systems to achieve global optimized performance. To this end, a new concept of integrated design is introduced for designing the…
Many real-world control systems, such as the smart grid and human sensorimotor control systems, have decentralized components that react quickly using local information and centralized components that react slowly using a more global view.…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
In this paper, a data-driven approach is developed for controller design for a class of discrete-time large-scale systems, where a large-scale system can be expressed in an equivalent data-driven form and the decentralized controllers can…
This paper addresses the oscillatory synchronization problem for multiple uncertain mechanical systems with a virtual leader, and the interaction topology among them is assumed to contain a directed spanning tree. We propose an adaptive…
In this letter, we propose a simple yet effective singular value decomposition (SVD) based strategy to reduce the optimization problem dimension in data-enabled predictive control (DeePC). Specifically, in the case of linear time-invariant…
The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the…
This paper presents a distributed data-driven predictive control (DDPC) approach using the behavioral framework. It aims to design a network of controllers for an interconnected system with linear time-invariant (LTI) subsystems such that a…
For active distribution networks (ADNs) integrated with massive inverter-based energy resources, it is impractical to maintain the accurate model and deploy measurements at all nodes due to the large-scale of ADNs. Thus, current models of…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the…
This paper presents a decentralized volt-var optimization (VVO) and network reconfiguration strategy to address the challenges arising from the growing integration of distributed energy resources, particularly photovoltaic (PV) generation…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
Decentralized coordination of a robot swarm requires addressing the tension between local perceptions and actions, and the accomplishment of a global objective. In this work, we propose to learn decentralized controllers based on solely raw…