相关论文: Decentralized Observer Design for Virtual Decompos…

Passivity theory has recently contributed to developing decentralized control schemes for large-scale systems. Many decentralized passivity-based control schemes are designed in continuous-time. It is well-known, however, that the passivity…

Many realistic decision-making problems in networked scenarios, such as formation control and collaborative task offloading, often involve complicatedly entangled local decisions, which, however, have not been sufficiently investigated yet.…

Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…

Prior research on deep video compression (DVC) for machine tasks typically necessitates training a unique codec for each specific task, mandating a dedicated decoder per task. In contrast, traditional video codecs employ a flexible encoder…

Network protocols have historically been developed on an ad-hoc basis, and cloud computing is no exception. A fundamental management protocol, not yet standardized, that cloud providers need to run to support wide-area virtual network…

This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…

In this paper, a generalized differentiation-integration observer is presented based on sensors selection. The proposed differentiation-integration observer can estimate the multiple integrals and high-order derivatives of a signal,…

Accurate and efficient wave-optics simulation of partially coherent light transport systems is critical for the design of advanced optical systems, ranging from computational lithography to diffraction-limited storage rings (DLSR). However,…

In this paper, we investigate state estimation and opacity verification problems within a decentralized observation architecture. Specifically, we consider a discrete event system whose behavior is recorded by a set of observation sites.…

This article explores a flexible and coordinated control design for an aggregation of heterogeneous distributed energy resources (DERs) in a dynamic virtual power plant (DVPP). The control design aims to provide a desired aggregate…

This paper addresses the distributed optimal frequency control of power systems considering a network-preserving model with nonlinear power flows and excitation voltage dynamics. Salient features of the proposed distributed control strategy…

Visual Odometry (VO) is used in many applications including robotics and autonomous systems. However, traditional approaches based on feature matching are computationally expensive and do not directly address failure cases, instead relying…

This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear observations. A key feature of our proposed observer, which…

This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…

This article studies the problem of decentralized Singular Value Decomposition (d-SVD), which is fundamental in various signal processing applications. Two scenarios are considered depending on the availability of the data matrix under…

This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…

This paper presents a flexible and modular control scheme based on distributed model predictive control (DMPC) to achieve optimal operation of decentralized energy systems in smart grids. The proposed approach is used to coordinate multiple…

How can a robot navigate successfully in rich and diverse environments, indoors or outdoors, along office corridors or trails on the grassland, on the flat ground or the staircase? To this end, this work aims to address three challenges:…

We develop a non-collocated, observer-based output-feedback law for a class of continua of linear hyperbolic PDE systems, which are viewed as the continuum version of $n+m$, general heterodirectional hyperbolic systems as $n\to\infty$. The…

Virtual oscillator control is the latest control technique for grid-forming inverters. Virtual Oscillator based Controllers (VOCs) provide all the steady-state droop functionalities of conventional droop controllers and, in addition, the…