A Flow Graph-Based Scalable Critical Branch Identification Approach for AC State Estimation Under Load Redistribution Attacks

This article offers a novel perspective on identifying the critical branches under load redistribution (LR) attacks. Compared to the existing literature that is largely disruption-driven and based on dc state estimation, we propose to address the threat from LR attacks on a more fundamental level by modeling and analyzing the circulation of...

Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

Robust locomotion is a challenging task for humanoid robots, especially when considering dynamic disturbances. This article proposes a disturbance observer-based cascaded model predictive control (MPC) approach for bipedal locomotion, with the capability of exploiting ankle, stepping, hip and height variation strategies. Specifically, based...