相关论文: Design and control analysis of a deployable cluste…
The collaboration between humans and robots is critical in many robotic applications, especially in those requiring physical human-robot interaction (pHRI). Previous research in pHRI has largely focused on robotic manipulators, employing…
Demand flexibility is increasingly important for power grids, in light of growing penetration of renewable generation. Careful coordination of thermostatically controlled loads (TCLs) can potentially modulate energy demand, decrease…
This paper studies the distributed resilient output containment control of heterogeneous multiagent systems against composite attacks, including denial-of-services (DoS) attacks, false-data injection (FDI) attacks, camouflage attacks, and…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
Controllability determines whether a system's state can be guided toward any desired configuration, making it a fundamental prerequisite for designing effective control strategies. In the context of networked systems, controllability is a…
The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabilizing controllers for nonlinear systems while optimizing…
Energy constraint long-range wireless sensor/ actuator based solutions are theoretically the perfect choice to support the next generation of city-scale cyber-physical systems. Traditional systems adopt periodic control which increases…
The complexity arising in AC microgrids from multiple interacting distributed generation units (DGUs) with intermittent supply behavior requires local voltage-source inverters (VSIs) to be controlled in a distributed or decentralized manner…
Constant-power loads are notoriously known to destabilise power systems, such as DC microgrids, due to their negative incremental impedance. This paper equips distributed generation units with decentralised L1 adaptive controllers at the…
Coupling of cluster and deformed structures are important for dynamics of nuclear structure. Threshold energy has been discussed to explain cluster structures coupling to deformed states but relation between threshold energy and excitation…
Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…
This paper proposes a decentralised secondary voltage control strategy that has several benefits over the existing centralised strategies. For that, a new structure for the control is proposed in terms of an inner and outer loops for each…
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…
This article studies the collaborative transportation of a cable-suspended pipe by two quadrotors. A force-coordination control scheme is proposed, where a force-consensus term is introduced to average the load distribution between the…
The ability to manipulate and control fluid flows is of great importance in many scientific and engineering applications. Here, a cluster-based control framework is proposed to determine optimal control laws with respect to a cost function…
This paper develops a novel framework for power system stability analysis, that allows for the decentralized design of inverter based controllers. The method requires that each individual inverter satisfies a standard $H^\infty$ design…
We explore methods to use thermostatically controlled loads (TCLs), such as water heaters and air conditioners, to provide ancillary services by assisting in balancing generation and load. We show that by adding simple imbedded instructions…
This paper presents a distributed control architecture for voltage and frequency stabilization in AC islanded microgrids. In the primary control layer, each generation unit is equipped with a local controller acting on the corresponding…