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By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be written in pseudo-linear form with state- and control-dependent coefficients. |
This paper discusses a linear programming approach for designing switching signals for controlled rectifiers to achieve a low input current & output voltage total harmonic distortions. The focus here is on fully controlled rectifiers made with four-quadrant MOSFET based switches. |
Requirements are investigated in this paper for each descriptor form subsystem, with which a causal/impulse free networked dynamic system (NDS) can be constructed. For this purpose, a matrix rank based necessary and sufficient condition is at first derived for the causality/impulse freeness of an NDS, in which the ass... |
This paper presents an investigation into parameter adaptation in behavioral model--based digital predistortion for radio frequency power amplifiers. A novel measurement setup framework that emulates real--time adaptation in transmitters is developed that allows evaluation of different parameters, configurations and ad... |
This work develops techniques for the sequential detection and location estimation of transient changes in the volatility (standard deviation) of time series data. In particular, we introduce a class of change detection algorithms based on the windowed volatility filter. |
This paper addresses the distributed optimal frequency control of multi-area power system with operational constraints, including the regulation capacity of individual control area and the power limits on tie-lines. Both generators and controllable loads are utilized to recover nominal frequencies while minimizing reg... |
This paper presents a discrete-time nonlinear system identification method while satisfying the stability and safety properties of the system with high probability. An Extreme Learning Machine (ELM) is used with a Gaussian assumption on the function reconstruction error. |
Economic model predictive control and tracking model predictive control are two popular advanced process control strategies used in various of fields. Nevertheless, which one should be chosen to achieve better performance in the presence of noise is uncertain when designing a control system. |
While many efforts are currently devoted to vaccines development and administration, social distancing measures, including severe restrictions such as lockdowns, remain fundamental tools to contain the spread of COVID-19. A crucial point for any government is to understand, on the basis of the epidemic curve, the righ... |
This paper introduces a method for predicting the likely behaviors of continuous nonlinear systems in equilibrium in which the input values can vary. The method uses a parameterized equation model and a lower bound on the input joint density to bound the likelihood that some behavior will occur, such as a state variab... |
StocHy is a software tool for the quantitative analysis of discrete-time stochastic hybrid systems (SHS). StocHy accepts a high-level description of stochastic models and constructs an equivalent SHS model. |
State estimation plays a key role in the transition from the passive to the active operation of distribution systems, as it allows to monitor these networks and, successively, to perform control actions. However, designing state estimators for distribution systems carries a significant amount of challenges. |
Urban traffic congestion is a critical predicament that plagues modern road networks. To alleviate this issue and enhance traffic efficiency, traffic signal control and vehicle routing have proven to be effective measures. |
Controlled islanding is considered to be the last countermeasure to prevent system-wide blackouts in case of cascading failures. It splits the system into self-sustained islands to maintain transient stability at the expense of possible loss of load. |
The purpose of the following proposal is to create a new class of antennas of low weight but with a large transmitting and receiving surface made of metallized fabric. This class of antennas will be stationed in low satellite orbits, at about 2000 km from sea level and will be easily steerable by exploiting the intera... |
To achieve high accuracy, convolutional neural networks (CNNs) are increasingly growing in complexity and diversity in layer types and topologies. This makes it very challenging to efficiently deploy such networks on custom processor architectures for resource-scarce edge devices. |
This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and find the most valuable route for personnel to travel. |
Distributed estimation in interconnected systems has gained increasing attention due to its relevance in diverse applications such as sensor networks, autonomous vehicles, and cloud computing. In real practice, the sensor network may suffer from communication and/or sensor failures. |
Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the contr... |
This document is a result of the COOCK project "Smart Port 2025: improving and accelerating the operational efficiency of a harbour eco-system through the application of intelligent technologies". The project is mainly aimed at SMEs, but also at large corporations. |
Reaction delays play an important role in determining the qualitative dynamical properties of a platoon of vehicles traversing a straight road. In this paper, we investigate the impact of delayed feedback on the dynamics of the Classical Car-Following Model (CCFM). |
In this paper, we develop a new denial-of-service (DoS) estimator, enabling defenders to identify duration and frequency parameters of any DoS attacker, except for three edge cases, exclusively using real-time data. The key advantage of the estimator lies in its capability to facilitate security control in a wide rang... |
In this paper, we introduce a significant extension, called scenario with certificates (SwC), of the so-called scenario approach for uncertain optimization problems. This extension is motivated by the observation that in many control problems only some of the optimization variables are used in the design phase, while ... |
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV) systems that allows for the desired dynamics to be systematically scheduled, while... |
We study a pursuit-evasion game between a double integrator-driven pursuer with bounded velocity and bounded acceleration and a single integrator-driven evader with bounded velocity in a two-dimensional plane. The pursuer's goal is to capture the evader in the shortest time, while the evader attempts to delay the ... |
In this work, a predictive eco-driving assistance system (pEDAS) with the goal to assist drivers in improving their driving style and thereby reducing the energy consumption in battery electric vehicles while enhancing the driving safety and comfort is introduced and evaluated. pEDAS in this work is equipped with two ... |
As railway infrastructure manager, DB InfraGO AG is faced with the challenge of offering fluid and punctual operation despite rising demand and increased construction activity. The high capacity utilisation, especially in the core network sections, causes delays to be propagated quickly and widely across the entire ne... |
Sloshing Platform for In-Orbit Controller Experimentation is an ambitious, student run mission to design and fly a cubesat to study fluid sloshing in spacecraft. The project will examine zero-g propellant sloshing from an experimental standpoint. |
The reduced inertia in power system introduces more operation risks and challenges to frequency regulation. The existing virtual inertia and frequency support control are restricted by the normally non-dispatchable energy resources behind the power electronic converters. |
By employing local renewable energy sources and power generation units while connected to the central grid, microgrid can usher in great benefits in terms of cost efficiency, power reliability, and environmental awareness. Economic dispatching is a central problem in microgrid operation, which aims at effectively sche... |
The requirement-driven performance evaluation of a black-box cyber-physical system (CPS) that utilizes machine learning methods has proven to be an effective way to assess the quality of the CPS. However, the distributional evaluation of the performance has been poorly considered. |
In this paper, a time-optimal feedback solution to the game of two cars, for the case where the pursuer is faster and more agile than the evader, is presented. The concept of continuous subsets of the reachable set is introduced to characterize the time-optimal pursuit-evasion game under feedback strategies. |
Mathematical modeling and real-time dynamics identification of the mean arterial blood pressure (MAP) response of a patient to vasoactive drug infusion can provide a reliable tool for automated drug administration and therefore, reduce the emergency costs and significantly benefit the patient's MAP regulation in an... |
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the design of DOb, then the position error asymptotically goes to zero in regulation c... |
This paper proposes a multi-day needs-based model for activity and travel demand analysis. The model captures the multi-day dynamics in activity generation, which enables the modeling of activities with increased flexibility in time and space (e.g., e-commerce and remote working). |
This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. |
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation of this framework is the introduction of asymptotically stable equilibrium poin... |
This tutorial shows an overview of Model Predictive Control with a linear discrete-time system and constrained states and inputs. The focus is on the implementation of the method under consideration of stability and recursive feasibility. |
Transient stability and critical clearing time (CCT) are important concepts in power system protection and control. This paper explores and compares various learning-based methods for predicting CCT under uncertainties arising from renewable generation, loads, and contingencies. |
This work presents the development of an online parameter estimation algorithm for the identification of resonating modes in a linear system of arbitrary order. The method employs a short-time Fourier transform of the input and output signals and uses a recursive least square (RLS) algorithm to detect resonant frequen... |
Evolving security vulnerabilities and shifting operational conditions require frequent updates to network security policies. These updates include adjustments to incident response procedures and modifications to access controls, among others. |
Parking is a crucial element of the driving experience in urban transportation systems. Especially in the coming era of Shared Autonomous Vehicles (SAVs), parking operations in urban transportation networks will inevitably change. |
Servo error pre-compensation and feedrate optimization are often performed independently to improve the accuracy and speed of manufacturing machines. However, this independent approach leads to unnecessary trade-offs between productivity and quality in manufacturing. |
A new numerical method is introduced for calculation of quasi-polynomial zeros with constant single delay. The trajectories of zeros are obtained depending on time-delay from zero to final time-delay value. |
In this paper we propose a new Koopman operator approach to the decomposition of nonlinear dynamical systems using Koopman Gramians. We introduce the notion of an input-Koopman operator, and show how input-Koopman operators can be used to cast a nonlinear system into the classical state-space form, and identify condit... |
In this paper, a discrete-time I&I-based adaptive IDA-PBC controller for uncertain nonlinearly parameterized port-controlled Hamiltonian systems (PCH), where the parameter uncertainties are assumed in the energy function, is constructed. A proper formulation for the uncertain system dynamics is established where t... |
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory evolving on the distribution which d... |
This work proposes an adaptive output feedback model predictive control (MPC) framework for uncertain systems subject to external disturbances. In the absence of exact knowledge about the plant parameters and complete state measurements, the MPC optimization problem is reformulated in terms of their estimates derived ... |
This paper considers a tracking control problem, in which the dynamic controller is encrypted with an additively homomorphic encryption scheme and the output of a process tracks a dynamic reference asymptotically. Our paper is motivated by the following problem: When dealing with both asymptotic tracking and dynamic r... |
This paper provides a strategy to identify layers and sub-layers of cyber-physical power systems (CPPS) and characterize their inter- and intra-actions. The physical layer usually consists of the power grid and protection devices whereas the cyber layer consists of communication, and computation and control components... |
The integration of renewable energy sources (RES) is rapidly increasing in electric power systems (EPS). While the inclusion of intermittent RES coupled with the wide-scale deployment of communication and sensing devices is important towards a fully smart grid, it has also expanded the cyber-threat landscape, effectiv... |
The formal verification and controller synthesis for Markov decision processes that evolve over uncountable state spaces are computationally hard and thus generally rely on the use of approximations. In this work, we consider the correct-by-design control of general Markov decision processes (gMDPs) with respect to te... |
We consider the problem of optimal navigation control design for navigation on off-road terrain. We use traversability measure to characterize the degree of difficulty of navigation on the off-road terrain. |
This paper deals with the output regulation problem (ORP) of a linear time-invariant (LTI) system in the presence of sporadically sampled measurement streams with the inter-sampling intervals following a stochastic process. Under such sporadically available measurement streams, a regulator consisting of a hybrid obser... |
Accelerated discovery in materials science demands autonomous systems capable of dynamically formulating and solving design problems. In this work, we introduce a novel framework that leverages Bayesian optimization over a problem formulation space to identify optimal design formulations in line with decision-maker pr... |
We propose a branch flow model for the anal- ysis and optimization of mesh as well as radial networks. The model leads to a new approach to solving optimal power flow (OPF) that consists of two relaxation steps. |
The grid-connected electric vehicles (EVs) serve as a promising regulating resource in the distribution grid with Vehicle-to-Grid (V2G) facilities. In the day-ahead stage, electric vehicle batteries (EVBs) need to be precisely dispatched and controlled to ensure high efficiency and prevent degradation. |
Safe and secure electric vehicle charging stations (EVCSs) are important in smart transportation infrastructure. The prevalence of EVCSs has rapidly increased over time in response to the rising demand for EV charging. |
The advent of distributed energy resources (DERs), such as distributed renewables, energy storage, electric vehicles, and controllable loads, \rv{brings} a significantly disruptive and transformational impact on the centralized power system. It is widely accepted that a paradigm shift to a decentralized power system w... |
Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning controller and a lower-level model predictive controller to coordinate the lane-chan... |
This paper addresses the optimization of edge-weighted networks by maximizing algebraic connectivity to enhance network robustness. Motivated by the need for precise robot position estimation in cooperative localization and pose-graph sparsification in Simultaneous Localization and Mapping (SLAM), the algebraic connec... |
This paper proposes a semi-structural approach to verify the nonblockingness of a Petri net. We construct a structure, called minimax basis reachability graph (minimax-BRG): it provides an abstract description of the reachability set of a net while preserving all information needed to test if the net is blocking. |
Recent work has led to the development of an elegant theory of Linearly Solvable Markov Decision Processes (LMDPs) and related Path-Integral Control Problems. Traditionally, MDPs have been formulated using stochastic policies and a control cost based on the KL divergence. |
This paper presents a \textit{physics-based} steady-state equivalent circuit model of a two-stage bidirectional inverter. These inverters connect distributed energy resources (DERs), such as photovoltaic (PV) and battery systems, to distribution grids. |
The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and computation units, which makes traditional methods more challenging to implement. |
Buildings are essential components of power grids, and their energy performance directly affects overall power system operation. This paper presents a novel stochastic optimization framework for building energy management systems, aiming to enhance buildings' energy performance and facilitate their effective integ... |
This paper incorporates a continuous-type network flexibility into chance constrained economic dispatch (CCED). In the proposed model, both power generations and line susceptances are continuous variables to minimize the expected generation cost and guarantee a low probability of constraint violation in terms of gener... |
(Extended Version) Data-driven control can facilitate the rapid development of controllers, offering an alternative to conventional approaches. |
Mobile edge caching (MEC) is a promising technique to improve the quality of service (QoS) for mobile users (MU) by bringing data to the network edge. However, optimizing the crucial QoS aspects of message freshness and service promptness, measured by age of information (AoI) and service delay, respectively, entails a... |
Active distribution networks (ADNs) are the main platforms for carrying large-scale distributed renewable energy and flexible resources, and multi-community integrated energy systems (MCIESs) may become important flexible resource supplies in ADNs owing to their multi-energy synergistic and complementary advantages. T... |
This paper presents the design and implementation results of an ecological adaptive cruise controller (ECO-ACC) which exploits driving automation and connectivity. The controller avoids front collisions and traffic light violations, and is designed to reduce the energy consumption of connected automated vehicles by ut... |
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first propose a composite event-trigger mechanism, which composed of two state-dependent ... |
With the increasing penetration of renewable energy, frequency response and its security are of significant concerns for reliable power system operations. Frequency-constrained unit commitment (FCUC) is proposed to address this challenge. |
Nowadays, there is a growing interest in the field of magnetic particle spectroscopy (MPS)-based bioassays. MPS monitors the dynamic magnetic response of surface-functionalized magnetic nanoparticles (MNPs) upon excitation by an alternating magnetic field (AMF) to detect various target analytes. |
Parameter estimation in electrochemical models remains a significant challenge in their application. This study investigates the impact of different operating profiles on electrochemical model parameter estimation to identify the optimal conditions. |
One of the barriers to adoption of Electric Vehicles (EVs) is the anxiety around the limited driving range. Recent proposals have explored charging EVs on the move, using dynamic wireless charging which enables power exchange between the vehicle and the grid while the vehicle is moving. |
In recent years, there has been significant growth of distributed energy resources (DERs) penetration in the power grid. The stochastic and intermittent features of variable DERs such as roof top photovoltaic (PV) bring substantial uncertainties to the grid on the consumer end and weaken the grid reliability. |
This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external disturbances. The DNN is used to compensate the unknown nonlinear dynamics with ... |
In this paper, we investigate the robustness to external disturbances of switched discrete and continuous systems with multiple equilibria. It is shown that if each subsystem of the switched system is Input-to-State Stable (ISS), then under switching signals that satisfy an average dwell-time bound, the solutions are ... |
This paper presents Auriga Robotics' autonomous vehicle, developed at Shahid Beheshti University's Robotics and Intelligent Automation Lab, as part of the team's entry for the 2024 RoboCup IranOpen competition. The vehicle is a 1:10 scale car equipped with a custom-designed chassis, a stepper motor for pre... |
This study presents a nonlinear model predictive control (NMPC) formulation for preview-based traction control, which uses the information on the expected tire-road friction coefficient ahead to enhance the wheel slip control performance, in the context of connected vehicles with V2X features. Proof-of-concept experim... |
This study introduces a novel multi-objective reinforcement learning (MORL) approach for autonomous intersection management, aiming to balance traffic efficiency and environmental sustainability across electric and internal combustion vehicles. The proposed method utilizes MORL to identify Pareto-optimal policies, wit... |
This paper presents the following research findings on Boolean networks (BNs) and their dual <a href="http://subspaces.First" rel="external noopener nofollow" class="link-external link-http">this http URL</a>, we establish a bijection between the dual subspaces of a BN and the partitions of its state set. Furthermore,... |
This paper proposes an on-policy reinforcement learning (RL) control algorithm that solves the optimal regulation problem for a class of uncertain continuous-time nonlinear systems under user-defined state constraints. We formulate the safe RL problem as the minimization of the Hamiltonian subject to a constraint on t... |
Timing guarantees are crucial to cyber-physical applications that must bound the end-to-end delay between sensing, processing and actuation. For example, in a flight controller for a multirotor drone, the data from a gyro or inertial sensor must be gathered and processed to determine the attitude of the aircraft. |
Low ambient temperatures significantly reduce Lithium ion batteries' (LIBs') charge/discharge power and energy capacity, and cause rapid degradation through lithium plating. These limitations can be addressed by preheating the LIB with an external heat source or by exploiting the internal heat generation throu... |
We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics in combination with the St. Venant-Kirchhoff material law. |
We study optimal transmission strategies in interfering wireless networks, under Quality of Service constraints. A buffered, dynamic network with multiple sources is considered, and sources use a retransmission strategy in order to improve packet delivery probability. |
We consider the problem of synchronizing two electric power generators, one of which (the leader) is serving a time-varying electrical load, so that they can ultimately be connected to form a single power system. Each generator is described by a second-order reduced state-space model. |
Problem definition: Supply chains are constantly evolving networks. Reinforcement learning is increasingly proposed as a solution to provide optimal control of these networks. |
Electrical grids are now much more complex due to the rapid integration of distributed generation and alternative energy sources, which makes forecasting grid stability with optimized control a crucial task for operators. Traditional statistical, physics-based, and ML models can learn the pattern of the grid features,... |
We present a Reinforcement Learning-based Robust Nonlinear Model Predictive Control (RL-RNMPC) framework for controlling nonlinear systems in the presence of disturbances and uncertainties. An approximate Robust Nonlinear Model Predictive Control (RNMPC) of low computational complexity is used in which the state traje... |
Parameter extraction of photovoltaic (PV) models is crucial for the planning, optimization, and control of PV systems. Although some methods using meta-heuristic algorithms have been proposed to determine these parameters, the robustness of solutions obtained by these methods faces great challenges when the complexity... |
This work presents an algorithm for determining the parameters of a nonlinear dynamic model of the respiratory system in patients undergoing assisted ventilation. Using the pressure and flow signals measured at the mouth, the model's quadratic pressure-volume characteristic is fit to this data in each respiratory ... |
The development of renewable energy generation empowers microgrids to generate electricity to supply itself and to trade the surplus on energy markets. To minimize the overall cost, a microgrid must determine how to schedule its energy resources and electrical loads and how to trade with others. |
Pervasive sensing is transforming health and activity monitoring by enabling continuous and automated data collection through advanced sensing modalities. While extensive research has been conducted on human subjects, its application in livestock remains underexplored. |
Unsignalized intersections pose safety and efficiency challenges due to complex traffic flows and blind spots. In this paper, a digital twin (DT)-based cooperative driving system with roadside unit (RSU)-centric architecture is proposed for enhancing safety and efficiency at unsignalized intersections. |
Fast dynamics and transient events are becoming more and more frequent in power systems, due to the high penetration of renewable energy sources and the consequent lack of inertia. In this scenario, Phasor Measurement Units (PMUs) are expected to track the monitored quantities. |
We propose a computationally efficient approach to safe reinforcement learning (RL) for frequency regulation in power systems with high levels of variable renewable energy resources. The approach draws on set-theoretic control techniques to craft a neural network-based control policy that is guaranteed to satisfy safe... |
In this paper, we provide an extension of the scalable algorithm proposed in (Riverso et al., 2015) for the design of Plug-and-Play (PnP) controllers for AC Islanded microGrids (ImGs). The method in (Riverso et al., 2015) assumes DGUs are arranged in a load-connected topology, i.e. loads can appear only at the output ... |
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