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This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed technique include g ...
We consider the problem of dispatching wind farm (WF) power demand to individual wind turbines (WTs) with the goal of minimizing mechanical stresses. We assume that wind is strong enough to let each WTs produce the required power and propose different clos ...
We study the convergence rate of the moment-sum-of-squares hierarchy of semidefinite programs for optimal control problems with polynomial data. It is known that this hierarchy generates polynomial under-approximations to the value function of the optimal ...
In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...
In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...
In this technical note, a new model predictive controller for tracking arbitrary periodic references is presented. The proposed controller is based on a single layer that unites dynamic trajectory planning and control. A design procedure to guarantee that ...
Institute of Electrical and Electronics Engineers2016
This thesis uses the idea of lifting (or embedding) a nonlinear controlled dynamical system into an infinite-dimensional space of measures where this system is equivalently described by a linear equation. This equation and problems involving it are subsequ ...
The paper presents a centralized real-time adaptive and model-based voltage control algorithm for Active Distribution Networks (ADNs). Differently from the available literature, the proposed algorithm merely relies on the control of Battery Energy Storage ...
The inter-area oscillations are common in power systems and can occur due to the changes in the load or generating power especially in long transmission lines. This paper presents the design of a robust fixed order loop shaping controller to damp out the i ...
This paper investigates the relations between three different properties, which are of importance in optimal control problems: dissipativity of the underlying dynamics with respect to a specific supply rate, optimal operation at steady state, and the turnp ...
