相关论文: Error Convergence Analysis and Stability of a Clou…
This letter proposes a convolutional neural network (CNN)-based adaptive controller wtih three notable features: 1) it determines control input directly from historical sensor data (in an end-to-end process); 2) it learns the desired…
When electric vehicles (EVs) are integrated into standalone DC microgrids (DCMGs), stability issues arise due to their constant power load (CPL) behavior, which provides negative incremental impedance (NII). In addition, the microgrids…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Two new methods are presented for estimating car-following model parameters using data collected from the Adaptive Cruise Control (ACC) enabled vehicles. The vehicle is assumed to follow a constant time headway relative velocity model in…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, assuming exact vehicle parameters;…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…
The paper proposes a framework to identify and avoid the coverage hole in an indoor industry environment. We assume an edge cloud co-located controller that followers the Automated Guided Vehicle (AGV) movement on a factory floor over a…
This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…
The development of Autonomous Vehicles (AVs) has redefined the way of transportation by eliminating the need for human intervention in driving. This revolution is fueled by rapid advancements in adaptive cruise control (ACC), which make AVs…
In this paper, online convex optimization is applied to the problem of controlling linear dynamical systems. An algorithm similar to online gradient descent, which can handle time-varying and unknown cost functions, is proposed. Then,…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
The highly fluctuated renewable generations and electric vehicles have undergone tremendous growth in recent years. The majority of them are connected to the grid via power electronic devices, resulting in wide variation ranges for several…
This paper studies the design of feedback controllers to steer a switching linear time-invariant dynamical system towards the solution trajectory of a time-varying convex optimization problem. We propose two types of controllers: (i) a…
Fine-tuning is the primary mechanism for adapting foundation models to downstream tasks; however, standard approaches largely optimize task objectives in isolation and do not account for secondary yet critical alignment objectives (e.g.,…
We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…
In contrast to grid-following inverters, Virtual Synchronous Generators (VSGs) perform well under weak grid conditions but may become unstable when the grid is strong. Grid strength depends on grid impedance, which unfortunately varies over…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
Transmission line failures in power systems propagate and cascade non-locally. In this work, we propose an adaptive control strategy that offers strong guarantees in both the mitigation and localization of line failures. Specifically, we…