相关论文: MPC-based Vibration Control and Energy Harvesting …
Nonlinearity has enabled energy harvesting to advance towards higher power output and broader bandwidth in monostable, bistable, and multistable systems. However, challenges in operating in the high energy orbit (HEO) rather than low energy…
The increasing adoption of renewable energy sources increases the need for balancing power. The security concerns of the distribution system operators are increasing due to fast adoption of distributed energy resources. So far, various…
This paper considers the network flow stabilization problem in power systems and adopts an output regulation viewpoint. Building upon the structure of a heterogeneous port-Hamiltonian model, we integrate network aspects and develop a…
Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
Eco-driving (ED) can be used for fuel savings in existing vehicles, requiring only a few hardware modifications. For this technology to be successful in a dynamic environment, ED requires an online real-time implementable policy. In this…
Research on mobile manipulation systems that physically interact with humans has expanded rapidly in recent years, opening the way to tasks which could not be performed using fixed-base manipulators. Within this context, developing suitable…
The study deals with a rotor-stator contact inducing vibration in rotating machinery. A numerical rotor-stator system, including a non-linear bearing with Hertz contact and clearance is considered. To determine the non-linear responses of…
Autonomous vehicles (AVs) present a unique opportunity to improve the sustainability of transportation systems by adopting eco-driving strategies that reduce energy consumption and emissions. This paper introduces a novel surrogate model…
Integration of intermittent renewable energy sources in modern power systems is increasing very fast. Replacement of synchronous generators with zero-to-low variable renewables substantially decreases the system inertia. In a large system,…
Computer models being developed to understand the interaction between demand-response technology, power system deregulation and market transformation depend in part on understanding the relationship between system frequency and…
Historically, battery is the power source for mobile, embedded and remote system applications. However, the development of battery techniques does not follow the Moore's Law. The large physical size, limited electric quantity and high-cost…
Energy harvesting from vortex-induced vibrations is a promising technology that relies on the vibrations of bluff bodies due to vortex shedding. Increasing the vibration amplitude at a given free stream kinetic energy is therefore…
Owing to the call for energy efficiency, the need to optimize the energy consumption of commercial buildings-- responsible for over 40% of US energy consumption--has recently gained significant attention. Moreover, the ability to…
Robotic imitation learning has advanced from solving static tasks to addressing dynamic interaction scenarios, but testing and evaluation remain costly and challenging due to the need for real-time interaction with dynamic environments. We…
The nonlinear mechanics of a flexible elastic rod constrained at its edges by a pair of sliding sleeves is analyzed. The planar equilibrium configurations of this variable-length elastica are found to have shape defined only by the…
Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, and forward-backward passes may lose fidelity and efficacy…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
This paper presents the results of a model predictive controller (MPC) development for diesel engine air-path regulation. The control objective is to track the intake manifold pressure and exhaust gas recirculation (EGR) rate targets by…