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We study the adaptive control of an unknown linear system with a quadratic cost function subject to safety constraints on both the states and actions. The challenges of this problem arise from the tension among safety, exploration, performance, and computation.
A model predictive control (MPC) method for enhancing post-fault transient stability of a grid-forming (GFM) inverter based resources (IBRs) is developed in this paper. This proposed controller is activated as soon as the converter enters into the post-fault current-saturation mode.
Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven representation of the so-called velocity-form, i.e., the time-difference dynamics, of th...
Amid growing environmental concerns and resulting energy costs, there is a rising need for efficient Home Energy Management Systems (HEMS). Evaluating such innovative HEMS solutions typically relies on simulations that may not model the full complexity of a real-world scenario.
Net energy metering has been a successful policy for increasing solar generation installations and reducing the costs of photovoltaic arrays for consumers. However, increased maturity of solar technologies and concerns over cost shifts created by net energy metering have recently caused the policy to change its incent...
Convex optimization challenges are currently pervasive in many science and engineering domains. In many applications of convex optimization, such as those involving multi-agent systems and resource allocation, the objective function can persistently switch during the execution of an optimization algorithm.
The control of a battery thermal management system (BTMS) is essential for the thermal safety, energy efficiency, and durability of electric vehicles (EVs) in hot weather. To address the battery cooling optimization problem, this paper utilizes dynamic programming (DP) to develop an online rule-based control strategy....
Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art autopilots are based on linear control and are thus limited in their effectiveness and ...
This paper studies the synchronization of a finite number of Kuramoto oscillators in a frequency-dependent bidirectional tree network. We assume that the coupling strength of each link in each direction is equal to the product of a common coefficient and the exogenous frequency of its corresponding head oscillator.
Many chemical processes exhibit diverse timescale dynamics with a strong coupling between timescale sensitive variables. Model predictive control with a non-uniformly spaced optimisation horizon is an effective approach to multi-timescale control and offers opportunities for reduced computational complexity.
Power systems are evolving into cyber-physical energy systems (CPES) due to the integration of modern communication and Internet-of-Things (IoT) devices. CPES security evaluation is challenging since the physical and cyber layers are often not considered holistically.
In this paper, a compact wideband dual-polarized Luneburg lens antenna (LLA) with reduced anisotropy and improved impedance matching is proposed in Ka band with a wide 2D beamscanning capability. Based on transformation optics, the spherical Luneburg lens is compressed into a cylindrical one, while the merits of high ...
The main contribution of this paper is a methodology for multiple non-cooperating swarms of unmanned aerial vehicles to independently cover a common area. In contrast to previous research on coverage control involving more than one swarm, this paper does not assume cooperation between distinct groups but considers the...
We study day-ahead bidding strategies for wind farm operators under a one-price balancing scheme, prevalent in European electricity markets. In this setting, the profit-maximising strategy becomes an all-or-nothing strategy, aiming to take advantage of open positions in the balancing market.
Opacity, an information-flow property related to the privacy and security of a system, has been extensively studied in the context of discrete event systems. Although various notions of opacity have been proposed, in all cases the considered secret was constant.
Periodicity and aperiodicity can exist in a state simultaneously and typically become quasi-periodicity and quasi-aperiodicity in a dynamically changing state. The quasi-periodic and quasi-aperiodic states existing in the periodic/aperiodic state mostly correspond to different phenomena and require different controls....
Dynamic pricing is both an opportunity and a challenge to the demand side. It is an opportunity as it better reflects the real time market conditions and hence enables an active demand side.
In distribution networks, there are slow controlling devices and fast controlling devices for Volt-VAR regulation. These slow controlling devices, such as capacitors or voltage regulators, cannot be operated frequently and should be scheduled tens of minutes ahead (Hereafter named as slow control).
In this paper, we study the problem of stabilizing continuous-time switched linear systems with quantized output feedback. We assume that the observer and the control gain are given for each mode.
While reinforcement learning has shown experimental success in a number of applications, it is known to be sensitive to noise and perturbations in the parameters of the system, leading to high variance in the total reward amongst different episodes in slightly different environments. To introduce robustness, as well a...
"Bubble Ball" is a game built on a 2D physics engine, where a finite set of objects can modify the motion of a bubble-like ball. The objective is to choose the set and the initial configuration of the objects, in order to get the ball to reach a target flag.
Electric motors can be damaged or operate improperly from a possible set of failures. Such failures are related to high or very low voltage and current levels, phase loss or blocked rotor.
We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed proportional controllers that implement additional links in the network modeling the c...
This paper deals with a new robust fault detection (FD) scheme for nonlinear Lipschitz systems wherein a robust nonlinear observer is used in combination with the Bond Graph (BG) method. In order to improve the efficiency of the classical Analytical Redundancy Relations (ARRs) FD scheme based on the BG method, a new f...
This letter provides conditions determining the rank of the nodal admittance matrix, and arbitrary block partitions of it, for connected AC power networks with complex admittances. Furthermore, some implications of these properties concerning Kron Reduction and Hybrid Network Parameters are outlined.
The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC) methodology.
Amidst the worldwide efforts to decarbonize power networks, Local Electricity Markets (LEMs) in distribution networks are gaining importance due to the increased adoption of renewable energy sources and prosumers. Considering that LEMs involve data exchange among independent entities, privacy and cybersecurity are som...
The evolving landscape of electric power networks, influenced by the integration of distributed energy resources require the development of novel power system monitoring and control architectures. This paper develops algorithm to monitor and detect anomalies of different parts of a power system that cannot be measured...
In this paper, formation tracking for a multi-AUV system (MAS) using an improved adaptive sliding mode control method is studied in the Three Dimensional (3-D) underwater environment. Firstly, the kinematics model and the dynamic model of the AUVs are given as the Six Dimensions of Freedom (6-DOF) considered.
This paper deals with the problem of robust fault estimation for the Lipschitz nonlinear systems under the influence of sensor faults and actuator faults. In the proposed methodology, a descriptor system is formulated by augmenting sensor fault vectors with the states of the system.
New mobility concepts are at the forefront of research and innovation in smart cities. The introduction of connected and autonomous vehicles enables new possibilities in vehicle routing.
This paper presents a systematic method for the design of a limited information shared control (LISC). LISC is used in applications where not all system states or reference trajectories are measurable by the automation.
We consider status updating under inexact knowledge of the battery level of an energy harvesting (EH) sensor that sends status updates about a random process to users via a cache-enabled edge node. More precisely, the control decisions are performed by relying only on the battery level knowledge captured from the last...
In this paper, we investigate asymptotic stability of linear time-varying systems with (sub-) stochastic system matrices. Motivated by distributed dynamic fusion over networks of mobile agents, we impose some mild regularity conditions on the elements of time-varying system matrices.
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional redundancies among the actuators, is one means to achieve the required degree o...
Eco-driving strategies have been shown to provide significant reductions in fuel consumption. This paper outlines an active driver assistance approach that uses a residual policy learning (RPL) agent trained to provide residual actions to default power train controllers while balancing fuel consumption against other d...
In the scope of discrete finite-state models of interacting components, we present a novel algorithm for identifying sets of local states of components whose activity is necessary for the reachability of a given local state. If all the local states from such a set are disabled in the model, the concerned reachability ...
Resilience engineering studies the ability of a system to survive and recover from disruptive events, which finds applications in several domains. Most studies emphasize resilience metrics to quantify system performance, whereas recent studies propose statistical modeling approaches to project system recovery time aft...
Power systems face increasing challenges on reliable operations due to the widespread distributed generators (DGs), e.g., rooftop PV system in the low voltage (LV) distribution grids. Characterizing the hosting capacity (HC) is vital for assessing the total amount of distributed generations that a grid can hold before...
This study presents a comprehensive analysis of a two-level battery charger for electric vehicles, focusing on modeling, simulation, and performance evaluation. The proposed charger topology employs two switches operating complementarily, along with essential components such as inductors, capacitors, and batteries.
An iterative learning based economic model predictive controller (ILEMPC) is proposed for repetitive tasks in this paper. Compared with existing works, the initial feasible trajectory of the proposed ILEMPC is not restricted to be convergent to an equilibrium so it can handle various types of control objectives: stabi...
We propose an adaptive Model Predictive Safety Certification (MPSC) scheme for learning-based control of linear systems with bounded disturbances and uncertain parameters where the true parameters are contained within an a priori known set of parameters. An MPSC is a modular framework which can be used in combination ...
Dynamic comparators are the core of high-speed, high-resolution analog-to-digital converters (ADCs) used for communication applications. Most of the dynamic comparators attain high-speed operation only for sufficiently high input difference voltages.
This paper investigates the observability of one of the most commonly used equivalent circuit models (ECMs) for lithium-ion batteries and presents a method to estimate the state of charge (SOC) in the presence of sensor biases, highlighting the importance of observability analysis for choosing appropriate state estimat...
This paper presents a flight control design for compound Vertical Takeoff and Landing (VTOL) vehicles. With their multitude of degrees of controllability as well as the significant variations in their flight characteristics, VTOL vehicles present challenges when it comes to designing their flight control system, espec...
The rapid increase of photovoltaic cells, batteries, and Electric Vehicles (EVs) in electric grids can result in congested distribution networks. An alternative to enhancing network capacity is a redispatch market, allowing Distribution System Operators (DSOs) to alleviate congested networks by asking energy consumers...
Mobile connectivity has become more important, especially for visitors to parks and protected areas. However, governments' policies prohibit cable wiring in these areas in order to preserve the beauty and protect the historical interest of the landscape.
This paper studies remote state estimation in the presence of an eavesdropper. A sensor transmits local state estimates over a packet dropping link to a remote estimator, while an eavesdropper can successfully overhear each sensor transmission with a certain probability.
For the first time quaternions have been used for real-time frequency estimation, where the multi-dimensional nature of quaternions allows for the full characterization of three-phase power systems. This is achieved through the use of quaternions to provide a unified framework for incorporating voltage measurements fr...
Due to the scarcity of fault samples and the complexity of non-linear and non-smooth characteristics data in hydroelectric units, most of the traditional hydroelectric unit fault localization methods are difficult to carry out accurate localization. To address these problems, a sparse autoencoder (SAE)-generative adve...
This paper studies trajectory optimization of an autonomous underwater vehicle (AUV) to track an unknown maneuvering target. Due to the restrictions on sensing capabilities in the underwater scenario, the AUV is limited to collecting only bearing measurements to the target.
The paper presents a distinctive and straightforward technique for stabilization of multi-variable systems. The idea is to decouple the system state matrix depending on different inputs and outputs.
In coverage control problems that involve time-varying density functions, the coverage control law depends on spatial integrals of the time evolution of the density function. The latter is often neglected, replaced with an upper bound or calculated as a numerical approximation of the spatial integrals involved.
This paper presents a novel framework for characterizing dissipativity of uncertain systems whose dynamics evolve according to differential-algebraic equations. Sufficient conditions for dissipativity (specializing to, e.g., stability or $L_2$ gain bounds) are provided in the case that uncertainties are characterized ...
The power system frequency is important for the system overall stability. However, there does not exist a single measurement point of the system frequency due to the distributed nature of the system inertia and the small inconsistency of different generator rotor electrical speeds in one synchronized system.
This work discusses a novel framework for simultaneous synthesis of optimal watermarking signal and robust controllers in cyber-physical systems to minimize the loss in performance due to added watermarking signal and to maximize the detection rate of the attack. A general dynamic controller is designed to improve sys...
We present a novel algorithm for reducing the state dimension, i.e. order, of linear parameter varying (LPV) discrete-time state-space (SS) models with affine dependence on the scheduling variable. The input-output behavior of the reduced order model approximates that of the original model.
This paper studies deterministic consensus networks with discrete-time dynamics under persistent flows and non-reciprocal agent interactions. An arc describing the interaction strength between two agents is said to be persistent if its weight function has an infinite $l_1$ norm.
In this paper a method of controlling nonholonomic systems within the port-Hamiltonian (pH) framework is presented. It is well known that nonholonomic systems can be represented as pH systems without Lagrange multipliers by considering a reduced momentum space.
The conventional solutions for fault-detection, identification, and reconstruction (FDIR) require centralized decision-making mechanisms which are typically combinatorial in their nature, necessitating the design of an efficient distributed FDIR mechanism that is suitable for multi-agent applications. To this end, we ...
The coupled problems of selecting control nodes and designing control actions for nonlinear network dynamics are fundamental scientific problems with applications in many diverse fields. These problems are thoroughly studied for linear dynamics; however, in spite of a number of open research questions, methods for non...
In this two-part paper we develop a unifying framework for the analysis of the feasibility of the power flow equations for DC power grids with constant-power loads. <br>In Part I of this paper we present a detailed introduction to the problem of power flow feasibility of such power grids, and the associated problem of...
The IEEE 1547 Standard for the interconnection of distributed energy resources (DERs) to distribution grids provisions that smart inverters could be implementing Volt/VAR control rules among other options. Such rules enable DERs to respond autonomously in response to time-varying grid loading conditions.
We present a data-driven control architecture for modifying the kinematics of robots and artificial avatars to encode specific information such as the presence or not of an emotion in the movements of an avatar or robot driven by a human operator. We validate our approach on an experimental dataset obtained during the...
Koopman analysis of a general dynamics system provides a linear Koopman operator and an embedded eigenfunction space, enabling the application of standard techniques from linear analysis. However, in practice, deriving exact operators and mappings for the observable space is intractable, and deriving an approximation ...
In practice, we can not only disable some events, but also enforce the occurrence of some events prior to the occurrence of other events by external control. In this paper, we combine these two control mechanisms to synthesize a more powerful supervisor.
Estimating consistent parameters of a structured state-space representation requires a reliable initialization when the vector of parameters is computed by using a gradient-based algorithm. In the eponymous companion paper accepted for publication in IEEE Transactions on Automatic Control, the problem of supplying a r...
This paper presents sufficient conditions for the stability and $\ell_2$-gain performance of recurrent neural networks (RNNs) with ReLU activation functions. These conditions are derived by combining Lyapunov/dissipativity theory with Quadratic Constraints (QCs) satisfied by repeated ReLUs.
This paper addresses the co-optimization of speed and gearshift control for battery electric vehicles using short-range traffic information. To achieve greater electric motor efficiency, a multi-speed transmission is employed, whose control involves discrete-valued gearshift signals.
Volt-VAr control is a popular method for mitigating overvoltage violations caused by high penetration of distributed energy resources (DERs) in distribution feeders. An inherent limitation of volt-VAr control is that the reactive power (Q) absorbed/injected by the DER is determined based only on the terminal voltage, ...
We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated equilibrium point.
In this paper, two robust model predictive control (MPC) schemes are proposed for tracking control of nonholonomic systems with bounded disturbances: tube-MPC and nominal robust MPC (NRMPC). In tube-MPC, the control signal consists of a control action and a nonlinear feedback law based on the deviation of the actual s...
Consensus is a well-studied problem in distributed sensing, computation and control, yet deriving useful and easily computable bounds on the rate of convergence to consensus remains a challenge. This paper discusses the use of seminorms for this goal.
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN communication.
Deviations of grid frequency from the nominal frequency are an indicator of the global imbalance between genera- tion and load. Two types of control, a distributed propor- tional control and a centralized integral control, are cur- rently used to keep frequency deviations small.
This paper addresses the problem of achieving secure consensus in a vehicular platoon using event-triggered control. The platoon consists of a leader and multiple follower vehicles exchanging their position and velocity information discretely to maintain stability.
Distributed optimization aims to leverage the local computation and communication capabilities of each agent to achieve a desired global objective. This paper addresses the distributed pose graph optimization (PGO) problem under non-convex constraints, with the goal of approximating the rotation and translation of eac...
This paper presents an approach to tackle the problem of tram localization through utilizing a custom processing of Global Navigation Satellite System (GNSS) observables and the track map. The method is motivated by suboptimal performance in dense urban environments where the direct line of sight to GNSS satellites is...
This study presents a framework for estimating the full vibrational state of wind turbine blades from sparse deflection measurements. The identification is performed in a reduced-order space obtained from a Proper Orthogonal Decomposition (POD) of high-fidelity aeroelastic simulations based on Geometrically Exact Beam...
We develop a non-parametric procedure for ranking transmission lines in a power system according to the probability that they will overload due to stochastic renewable generation or demand-side load fluctuations, and compare this procedure to several benchmark approaches. Using the IEEE 39-bus test network we provide ...
Occupation measures and linear matrix inequality (LMI) relax-ations (called the moment sums of squares or Lasserre hierarchy) have been used previously as a means for solving control law verification and validation (VV) problems. However, these methods have been restricted to relatively simple control laws and a limit...
For mechanical systems we present a controller able to track an unknown smooth signal, converging in finite time and by means of a continuous control signal. The control scheme is insensitive against unknown perturbations with bounded derivative.
This letter proposes a new approach for online detection of low-quality synchrophasor data under both normal and event conditions. The proposed approach utilizes the features of synchrophasor data in time and frequency domains to distinguish multiple regional PMU signals and detect low-quality synchrophasor data.
This paper performs the modeling of a Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The approach novelty is that quaternions are used instead of Euler angles.
In this paper, we study the problem of consensus-based distributed optimization where a network of agents, abstracted as a directed graph, aims to minimize the sum of all agents' cost functions collaboratively. In existing distributed optimization approaches (Push-Pull/AB) for directed graphs, all agents exchange ...
Vehicle platooning with Cooperative Adaptive Cruise Control improves traffic efficiency, reduces energy consumption, and enhances safety but remains vulnerable to cyber-attacks that disrupt communication and cause unsafe actions. To address these risks, this paper investigates control node placement and input bound op...
Fan-out wafer-level packaging (FOWLP) addresses the demand for higher interconnect densities by offering reduced form factor, improved signal integrity, and enhanced performance. However, FOWLP faces manufacturing challenges such as coefficient of thermal expansion (CTE) mismatch, warpage, die shift, and post-molding ...
Mobility-on-demand (MoD) systems, especially ride-hailing systems, have seen tremendous growth in recent years. These systems provide user-centric mobility services, whose users expect a high level of convenience.
Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design method.
The deployment of distributed photovoltaics (PV) in low-voltage networks may cause technical issues such as voltage rises, line ampacity violations, and transformer overloading for distribution system operators (DSOs). These problems may induce high grid reinforcement costs.
Broad application of human-machine interaction (HMI) demands advanced and human-centered control designs for the machine's automation. Human natural motor action shows stochastic behavior, which has so far not been respected in HMI control designs.
While bringing convenience to people, the growing number of vehicles on road already cause inevitable traffic congestion. Some traffic congestion happen with observable reasons, but others occur without apparent reasons or bottlenecks, which referred to as phantom jams, are caused by traditional vehicle following mode...
Selecting period values for tasks is a very important step in the design process of a real-time system, especially due to the significance of its impact on system schedulability. It is well known that, under RMS, the utilization bound for a harmonic task set is 100%.
This paper presents a numerically robust approach to multi-band disturbance rejection using an iterative Youla-Kucera parameterization technique. The proposed method offers precise control over shaping the frequency response of a feedback loop while maintaining numerical stability through a systematic design process.
This paper introduces a hierarchical cellular automaton (HCA)model for simulation of distributed self-organizing control of traffic signals at intersections in road network. The proposed HCA consists of three hierarchy levels that describe the movement of particular vehicles, occupancy of traffic lanes, and signal pha...
This study proposes an effective positive control design strategy for cancer treatment by resorting to the combination of immunotherapy and chemotherapy. The treatment objective is to transfer the initial number of tumor cells and immune-competent cells from the malignant region into the region of benign growth where ...
This paper considers the susceptible-infected-susceptible (SIS) epidemic model with an underlying network structure among subpopulations and focuses on the effect of social distancing to regulate the epidemic level. We demonstrate that if each subpopulation is informed of its infection rate and reduces interactions ac...
This paper proposes a learning-based model predictive control (MPC) approach for the thermal control of a four-zone smart building. The objectives are to minimize energy consumption and maintain the residents' comfort.
In the existing literatures for the risk evaluation of electricity-gas integrated energy system (EGIES), the impacts of gas leakage in pipelines are ignored. This paper presents a method to incorporate the failure modes of gas pipeline leakage in EGIES risk evaluation.
The increased need for reliable, resilient, and high quality power combined with a falling cost of distributed generation technologies has resulted in a rapid growth of microgrid in power systems. Although providing multitude of benefits, the microgrid power transfer with the main grid, which is commonly obtained usin...

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