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This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection from the chimney effect have a great impact on the flight control of the UAV. |
Control barrier functions (CBFs) have recently introduced a systematic tool to ensure system safety by establishing set invariance. When combined with a nominal control strategy, they form a safety-critical control mechanism. |
A fundamental question in systems biology is what combinations of mean and variance of the species present in a stochastic biochemical reaction network are attainable by perturbing the system with an external signal. To address this question, we show that the moments evolution in any generic network can be either appr... |
In this paper, least square estimation (LSE)-based dynamic generator model parameter identification is investigated. Electromechanical dynamics related parameters such as inertia constant and primary frequency control droop for a synchronous generator are estimated using Phasor Measurement Unit (PMU) data obtained at ... |
This paper studies the problem of stabilizing a self-triggered control system with quantized output. Employing a standard observer-based state feedback control law, a self-triggering mechanism that dictates the next sampling time based on quantized output is co-developed with an output encoding scheme. |
In this paper, we assess the movement error of a targeting system given target location data from artificial intelligence (AI) methods in automatic target recognition (ATR) systems. Few studies evaluate the impacts on the accuracy in moving a targeting system to an aimpoint provided in this manner. |
In this paper, we study the robustness of safety properties of a linear dynamical system with respect to model uncertainties. Our paper involves three parts. |
Following the seminal work of Zames, the input-output theory of the 70s acknowledged that incremental properties (e.g. incremental gain) are the relevant quantities to study in nonlinear feedback system analysis. Yet, non-incremental analysis has dominated the use of dissipativity theory in nonlinear control from the ... |
Bidirectional electric vehicle (EV) charging is a technology that is gaining rapid popularity due to its ability to provide economic and environmental benefits to both EV owners and power system operators (PSOs). Using the EV as a flexible source of energy, an EV owner can provide power to homes/buildings, or even par... |
This work deals with the problem of estimating a photovoltaic generation forecasting model in scenarios where measurements of meteorological variables (i.e. solar irradiance and temperature) at the plant site are not available. A novel algorithm for the estimation of the parameters of the well-known PVUSA model of a p... |
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential function. |
Reducing operation and maintenance costs is a key objective for advanced reactors in general and microreactors in particular. To achieve this reduction, developing robust autonomous control algorithms is essential to ensure safe and autonomous reactor operation. |
Accurately capturing the behavior of grain-oriented (GO) ferromagnetic materials is crucial for modeling the electromagnetic devices. In this paper, neural operator models, including Fourier neural operator (FNO), U-net combined FNO (U-FNO) and Deep operator network (DeepONet) are used to approximate the dynamic hyste... |
This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present a method based on the integration of differential kinematics using distance mea... |
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for performance improvements of traffic flow if managed efficiently. |
Cellular networks are becoming increasingly heterogeneous with higher base station (BS) densities and ever more frequency bands, making BS selection and band assignment key decisions in terms of rate and coverage. In this paper, we decompose the mobility-aware user association task into |
We study the distributed consensus of state vectors in a discrete-time multi-agent network with matrix edge weights using stochastic matrix convergence theory. We present a distributed asynchronous time update model wherein one randomly selected agent updates its state vector at a time by interacting with its neighbor... |
In today's uncertain and competitive market, where enterprises are subjected to increasingly shortened product life-cycles and frequent volume changes, reconfigurable manufacturing systems (RMS) applications play a significant role in the manufacturing industry's success. Despite the advantages offered by RMS,... |
We present a new online approach to track human whole-body motion from motion capture data, i.e., positions of labeled markers attached to the human body. Tracking in noisy data can be effectively performed with the aid of well-established recursive state estimation techniques. |
Conventional electromagnetic transient (EMT) and phasor-domain hybrid simulation approaches presently exist for trans-mission system level studies. Their simulation efficiency is generally constrained by the EMT simulation. |
In this paper, first we propose a novel hybrid renewable energy-based solution for frost prevention in horticulture applications involving active heaters. Then, we develop a multi-objective robust optimization-based formulation to optimize the distribution of a given number of active heaters in a given large-scale orc... |
We provide a method to construct finite abstractions exactly bisimilar to linear systems under a modified periodic event-triggered control (PETC), when considering as output the inter-event times they generate. Assuming that the initial state lies on a known compact set, these finite-state models can exactly predict a... |
For given system dynamics, observer structure, and observer-based fault/attack detection procedure, we provide mathematical tools -- in terms of Linear Matrix Inequalities (LMIs) -- for computing outer ellipsoidal bounds on the set of estimation errors that attacks can induce while maintaining the alarm rate of the det... |
The vibration of various structures such as blades of turbines, helicopters, and all kinds of rotating robot arms can damage the structures and disrupt their performance and balance. Thus, investigation of the reduction and control of vibration of these structures is significant. |
This paper proposes a novel sufficient condition for the incremental input-to-state stability of a generic class of recurrent neural networks (RNNs). The established condition is compared with others available in the literature, showing to be less conservative. |
Left ventricular assist devices (LVADs) are mechanical pumps, which can be used to support heart failure (HF) patients as bridge to transplant and destination therapy. To automatically adjust the LVAD speed, a physiological control system needs to be designed to respond to variations of patient hemodynamics across a v... |
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate maneuver plan, within an optimization-based framework. |
This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state feedback guaranteed cost controller and copies of the plant nonlinearities to f... |
Block oriented model structure detection is quite desirable since it helps to imagine the system with real physical elements. In this work we explore experimental methods to detect the internal structure of the system, using a black box approach. |
This paper proposes a novel integrated multiport bidirectional dc-dc converter to interface the battery, the ultra-capacitor, the fuel cell, or other energy sources with the dc-link capacitor of the hybrid energy systems such as the hybrid electric vehicle (HEV) and fuel cell vehicle (FCV) applications. The proposed c... |
The problem of optimizing affine feedback laws that explicitly steer the mean and covariance of an uncertain system state in the presence of a Gaussian random field is considered. Spatially-dependent disturbances are successively approximated with respect to a nominal trajectory by a sequence of jointly Gaussian rando... |
This brief aims at the issue of globally composite-learning-based neural fast finite-time (F-FnT) tracking control for a class of uncertain systems in strict-feedback form subject to nonlinearly periodic disturbances. First, uncertain dynamics with periodic parameters are identified by incorporating Fourier series exp... |
Objective: In a companion paper, we propose a parametric hybrid automaton model and an algorithm for the online synthesis of robustly correct and near-optimal controllers for cyber-physical system with reach-avoid guarantees. A key part of this synthesis problem is based on a weighted discretised game and solved via s... |
This paper explores the problem of training a recurrent neural network from noisy data. While neural network based dynamic predictors perform well with noise-free training data, prediction with noisy inputs during training phase poses a significant challenge. |
In this paper, we propose an algorithm for the formation of multiple UAVs used in vision-based inspection of infrastructure. A path planning algorithm is first developed by using a variant of the particle swarm optimisation, named theta-PSO, to generate a feasible path for the overall formation configuration taken int... |
Gas-fired units (GFUs) with rapid regulation capabilities are considered an effective tool to mitigate fluctuations in the generation of renewable energy sources and have coupled electricity power systems (EPSs) and natural gas systems (NGSs) more tightly. However, this tight coupling leads to uncertainty propagation,... |
Flexible joint robots, in particularly those which are equipped with harmonic-drive gears, can feature elasticities with hysteresis. Under heavy loads and large joint torques the hysteresis lost motion can lead to significant errors of tracking and positioning of the robotic links. |
In this letter, we propose a control framework for human-in-the-loop systems, in which many human decision makers are involved in the feedback loop composed of a plant and a controller. The novelty of the framework is that the decision makers are weakly controlled; in other words, they receive a set of admissible cont... |
Adaptive methods are popular within the control literature due to the flexibility and forgiveness they offer in the area of modelling. Neural network adaptive control is favorable specifically for the powerful nature of the machine learning algorithm to approximate unknown functions and for the ability to relax certai... |
Multilevel inverters are used to improve powerquality and reduce component stresses. This paper describesand compares two multilevel cascaded three phase inverterimplementations with two different modulation techniques: PhaseShifted Pulse Width Modulation, and Nearest Level <a href="http://Control.Further" rel="extern... |
Learning-enabled controllers have been adopted in various cyber-physical systems (CPS). When a learning-enabled controller fails to accomplish its task from a set of initial states, researchers leverage repair algorithms to fine-tune the controller's parameters. |
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control approach based on spiking neural networks for wall fitting and tracking, which ... |
This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. |
The association of weights in a distributed consensus protocol quantify the trust that an agent has on its neighbors in a network. An important problem in such networked systems is the uncertainty in the estimation of trust between neighboring agents, coupled with the losses arising from mistakenly associating wrong a... |
Urban air mobility (UAM) is an emerging concept in short-range aviation transportation, where the aircraft will take off, land, and charge their batteries at a set of vertistops, and travel only through a set of flight corridors connecting these vertistops. We study the problem of routing an electric aircraft from its... |
The joint design of control and communication scheduling in a Networked Control System (NCS) is known to be a hard problem. Several research works have successfully designed optimal sampling and/or control strategies under simplified communication models, where transmission delays/times are negligible or fixed. |
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challenges for modeling and control due to their inherent nonlinearity. |
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so that the scale, orientation, translation, and shape of formation can be manipul... |
The literature on reachability analysis methods for neural networks currently only focuses on uncertainties on the network's inputs. In this paper, we introduce two new approaches for the reachability analysis of neural networks with additional uncertainties on their internal parameters (weight matrices and bias v... |
A common trait involving the opinion dynamics in social networks is an anchor on interacting network to characterize the opinion formation process among participating social actors, such as information flow, cooperative and antagonistic influence, etc. Nevertheless, interacting networks are generally public for social... |
Simultaneous Input and State Estimation (SISE) enables the reconstruction of unknown inputs and internal states in dynamical systems, with applications in fault detection, robotics, and control. While various methods exist for linear systems, extensions to systems with output quantization are scarce, and no formal con... |
In the last few decades, the development of miniature biological sensors that can detect and measure different phenomena at the nanoscale has led to transformative disease diagnosis and treatment techniques. Among others, biofunctional Raman nanoparticles have been utilized in vitro and in vivo for multiplexed diagnos... |
Dynamic watermarking, as an active intrusion detection technique, can potentially detect replay attacks, spoofing attacks, and deception attacks in the feedback channel for control systems. In this paper, we develop a novel dynamic watermarking algorithm for finite-state finite-action Markov decision processes and pre... |
Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee satisfaction of these tasks. |
This paper presents a class of event-triggering rules for dynamical control systems with guaranteed positive minimum inter-event time (MIET). We first propose an event-based function design with guaranteed control performance under a clock-like variable for general nonlinear systems, and later specify them to general ... |
The Variation Evolving Method (VEM), which seeks the optimal solutions with the variation evolution principle, is further developed to be more flexible in solving the Optimal Control Problems (OCPs) with terminal constraint. With the first-order stable dynamics to eliminate the infeasibilities, the Modified Evolution ... |
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle fields in which motion control laws are based on optical flow sensing. |
In the present work, an embedded PI controller is designed for speed regulation of DC servomotor over a wireless network. The embedded controller integrates PI controller with a proposed time-delay estimator and an adaptive digital Smith predictor for its real time operation, which is the novelty of the work. |
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that typically leads to large control gains and torque inputs during specific time inte... |
The increasing integration of inverter-based resources (IBRs) and communication networks has brought both modernization and new vulnerabilities to the power system infrastructure. These vulnerabilities expose the system to internal faults and cyber threats, particularly False Data Injection (FDI) attacks, which can cl... |
Solution of multi-year, dynamic AC Transmission network expansion planning (TNEP) problem is gradually taking center stage of planning research owing to its potential accuracy. However, computational burden for a security constrained AC TNEP is huge compared to that with DC TNEP. |
Harmful Algal and Cyanobacterial Blooms (HABs), occurring in inland and maritime waters, pose threats to natural environments by producing toxins that affect human and animal health. In the past, HABs have been assessed mainly by the manual collection and subsequent analysis of water samples and occasionally by automa... |
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators depend not only on controller design and system dynamics but also significantly ... |
Multi-agent systems are designed to concurrently accomplish a diverse set of tasks at unprecedented scale. Here, the central problems faced by a system operator are to decide |
This paper addresses a control problem on air-conditioning systems in buildings that is regarded as a control practice of nonlinear distributed-parameter systems. Specifically, we consider the design of a controller for suppressing an oscillatory response of in-room temperature field. |
This letter proposes a novel and highly efficient distribution system state estimation (DSSE) algorithm with nonlinear measurements from supervisory control and data acquisition (SCADA) systems. Conventional DSSE, i.e., a weighted least square (WLS)-based method, requires multiple Monte Carlo simulations for overall a... |
Voltage regulation under conventional grid-forming controllers is tightly coupled to power sharing and dc-link dynamics. Consequently, its tracking accuracy deteriorates during grid faults, sudden power sharing changes, or dc-bus voltage varying. |
Cyber data attacks are the worst-case interacting bad data to power system state estimation and cannot be detected by existing bad data detectors. In this paper, we for the first time analyze the likelihood of cyber data attacks by characterizing the actions of a malicious intruder. |
The research area of Networked Control Systems (NCS) has been the topic of intensive study in the last decade. In this paper we give a contribution to this research line by addressing symbolic control design of (possibly unstable) nonlinear NCS with specifications expressed in terms of automata. |
We consider the problems of tracking an ensemble of indistinguishable agents with linear dynamics based only on output measurements. In this setting, the dynamics of the agents can be modeled by distribution flows in the state space and the measurements correspond to distributions in the output space. |
Graphical models are a succinct way to represent the structure in probability distributions. This article analyzes the graphical model of nodal voltages in non-radial power distribution grids. |
Dynamic metabolic control allows key metabolic fluxes to be modulated in real time, enhancing bioprocess flexibility and expanding available optimization degrees of freedom. This is achieved, e.g., via targeted modulation of metabolic enzyme expression. |
In this work, we first show that the problem of parameter identification is often ill-conditioned and lacks the persistence of excitation required for the convergence of online learning schemes. To tackle these challenges, we introduce the notion of optimal and greedy excitation sets which contain data points with suf... |
Boundary controlled irreversible port-Hamiltonian systems (BC-IPHS) on 1-dimensional spatial domains are defined by extending the formulation of reversible BC-PHS to irreversible thermodynamic systems controlled at the boundaries of their spatial domains. The structure of BC-IPHS has clear physical interpretation, cha... |
Energy hubs convert and distribute energy resources by combining different energy inputs through multiple conversion and storage components. The optimal operation of the energy hub exploits its flexibility to increase the energy efficiency and reduce the operational costs. |
We design resilient sparse state-feedback controllers for a linear time-invariant (LTI) control system while attaining a pre-specified guarantee on ${\mathcal{H}}_\infty$ performance measure. We leverage a technique from non-fragile control theory to identify a region of resilient state-feedback controllers. |
Robust tube-based model predictive control (MPC) methods address constraint satisfaction by leveraging an a priori determined tube controller in the prediction to tighten the constraints. This paper presents a system level tube-MPC (SLTMPC) method derived from the system level parameterization (SLP), which allows opti... |
This paper proposes a post-disaster cyber-physical interdependent restoration scheduling (CPIRS) framework for active distribution networks (ADN) where the simultaneous damages on cyber and physical networks are considered. The ad hoc wireless device-to-device (D2D) communication is leveraged, for the first time, to e... |
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective. More aptly, prior Test and Evaluation techniques tend to require apriori knowledge of a space of allowable disturbances. |
The stability analysis of a class of discontinuous discrete-time systems is studied in this paper. The system under study is modeled as a feedback interconnection of a linear system and a set-valued nonlinearity. |
An in-depth analysis of linearized branch flow (LBF) model considering current injection and absolute value of impedance is proposed in this paper. The form of LBF model is based on two equations: the current injection to meet KCL and the voltage drop to meet KVL. |
We investigate a co-design problem, encompassing simultaneous design of system infrastructure and control, through a game-theoretical framework. To this end, we propose the co-design problem as a two-layer hierarchical strategic interaction. |
Generalized short circuit ratio (gSCR) for gird strength assessment of multi-infeed high voltage direct current (MIDC) systems is a rigorous theoretical extension of traditional short circuit ratio (SCR), which allows the considerable experience of using SCR to be extended to MIDC systems. However, gSCR was originally... |
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated efficiently as part of the MPC problem by making use of a dual formulation. |
Improving the efficiency of agriculture is a growing priority due to food security issues, environmental concerns, and economics. Precision agriculture and variable rate application technology could enable increases in yield while maintaining or reducing fertiliser use. |
We investigate the resilience of learning-based \textit{Intelligent Navigation Systems} (INS) to informational flow attacks, which exploit the vulnerabilities of IT infrastructure and manipulate traffic condition data. To this end, we propose the notion of \textit{Wardrop Non-Equilibrium Solution} (WANES), which captu... |
This paper studies the contraction property of time-varying differential-algebraic equation (DAE) systems by embedding them to higher-dimension ordinary differential equation (ODE) systems. The first result pertains to the equivalence of the contraction of a DAE system and the uniform global exponential stability (UGE... |
Typical cooperative multi-agent systems (MASs) exchange information to coordinate their motion in proximity-based control consensus schemes to complete a common objective. However, in the event of faults or cyber attacks to on-board positioning sensors of agents, global control performance may be compromised resulting... |
The problem of connectivity assessment in an asymmetric network represented by a weighted directed graph is investigated in this article. A power iteration algorithm in a centralized implementation is developed first to compute the generalized algebraic connectivity of asymmetric networks. |
As the number of electric vehicles (EVs) significantly increases, the excessive charging demand of parked EVs in the charging station may incur an instability problem to the electricity network during peak hours. For the charging station to take a microgrid (MG) structure, an economical and energy-efficient power mana... |
In this paper, the problem of event-triggered consensus for linear continuous-time multi-agent systems is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus without continuous communication among agents. |
This paper proposes distributed discrete-time algorithms to cooperatively solve an additive cost optimization problem in multi-agent networks. The striking feature lies in the use of only the sign of relative state information between neighbors, which substantially differentiates our algorithms from others in the exis... |
We consider the problem of the transport of a density of states from an initial state distribution to a desired final state distribution through a dynamical system with actuation. In particular, we consider the case where the control signal is a function of time, but not space; that is, the same actuation is applied a... |
Hamilton-Jacobi reachability (HJR) provides a value function that encodes the set of states from which a system with bounded control inputs can reach or avoid a target despite any bounded disturbance, and the corresponding robust, optimal control policy. Though powerful, traditional methods for HJR rely on dynamic pro... |
We consider a supervisory control problem of a discrete event system (DES) under partial observation, where a control specification is given by a fragment of linear temporal logic. We design an on-line supervisor that dynamically computes its control action with the complete information of the product automaton of the... |
Trajectory planning is challenging for autonomous cars since they operate in unpredictable environments with limited sensor horizons. To incorporate new information as it is sensed, planning is done in a loop, with the next plan being computed as the previous plan is executed. |
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved paths while maintaining the desired formation. |
With the increased complexity of power systems due to the integration of smart grid technologies and renewable energy resources, more frequent changes have been introduced to system status, and the traditional serial mode of state estimation algorithm cannot well meet the restrict time-constrained requirement for the f... |
Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert input in the form of domain knowledge and mathematical maturity. |
This paper aims at secure and privacy preserving consensus algorithms of networked systems. Due to the technical challenges behind decentralized design of such algorithms, the existing results are mainly restricted to a network of systems with simplest first-order dynamics. |
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