Passive Fault-Tolerant Augmented Neural Lyapunov Control: A method to synthesise control functions for marine vehicles affected by actuators faults

Closed-loop stability of control systems can be undermined by actuator faults. Redundant actuator sets and Fault-Tolerant Control (FTC) strategies can be exploited to enhance system resiliency to loss of actuator efficiency, complete failures or jamming. Passive FTC methods entail designing a fixed-gain control law that can preserve the...

On vanishing gains in robust adaptation of switched systems: A new leakage-based result for a class of Euler–Lagrange dynamics

In the presence of unmodelled dynamics and uncertainties with no a priori constant bounds, conventional robust adaptation strategies for switched systems cannot allow the control gains of inactive subsystems to remain constant during inactive intervals: vanishing gains are typically required in order to prove bounded stability. As a...

Adaptive hybrid synchronisation in uncertain Kuramoto networks with limited information

In this study, the authors study adaptive synchronisation in networks with Kuramoto units whose parameters are unknown and where measurements are quantised over the communication network (therefore information is limited). They show that, for an undirected connected graph, synchronisation is enabled via appropriate adaptive protocols that...

Adaptive pulse width modulation design for power converters based on affine switched systems

In this work we propose a novel adaptive switching strategy for the design of pulse width modulation signals in power converters. Instead of an uncertain averaged model of the power converter, an uncertain switched model is considered, which can better represent the actual power converter dynamics. Uncertainties in the power converters...

Adaptive synchronization in networks with heterogeneous uncertain Kuramoto-like units

We analyze adaptive synchronization capabilities in networks with Kuramoto-like units whose dynamical features are unknown and thus synchronization protocols must exhibit co-evolution capabilities. In the presence of heterogeneous and uncertain units, synchronization should be enabled by appropriate adaptive protocols that counteract the...

A distributed disagreement-based protocol for synchronization of uncertain heterogeneous agents

In networks with heterogeneous and uncertain agents, fixed-gain control can lead to synchronization only if the uncertainties are relatively small. If the uncertainties are larger, we need to develop adaptive-gain approaches to achieve synchronization. In this work we propose an adaptive synchronization protocol, in case of full-state...

Automating occupant-building interaction via smart zoning of thermostatic loads: A switched self-tuning approach

Load management actions in large buildings are pre-programmed by field engineers/users in the form of if-then-else rules for the set point of the thermostat. This fixed set of actions prevents smart zoning, i.e. to dynamically regulate the set points in every room at different levels according to geometry, orientation and interaction among...

Platooning merging maneuvers in the presence of parametric uncertainty^⁎

Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is...

Adaptive optimal control for large-scale nonlinear systems

In this paper, we present an adaptive optimal control approach applicable to a wide class of large-scale nonlinear systems. The proposed approach avoids the so-called loss-of-stabilizability problem and the problem of poor transient performance that are typically associated with adaptive control designs. Moreover, it does not require the system...

A supervisory approach to microgrid demand response and climate control

Microgrids equipped with small-scale renewable-energy generation systems and energy storage units offer challenging opportunity from a control point of view. In fact, in order to improve resilience and enable islanded mode, micro-grid energy management systems must dynamically manage controllable loads by considering not only matching energy...

Adaptive optimization for active queue management supporting TCP flows

An adaptive decentralized strategy for active queue management of TCP flows over communication networks is presented. The proposed strategy solves locally, at each link, an optimal control problem, minimizing a cost composed of residual capacity and buffer queue size. The solution of the optimal control problem exploits an adaptive...

Online policy iterations for optimal control of input-saturated systems

This work proposes an online policy iteration procedure for the synthesis of sub-optimal control laws for uncertain Linear Time Invariant (LTI) Asymptotically Null-Controllable with Bounded Inputs (ANCBI) systems. The proposed policy iteration method relies on: a policy evaluation step with a piecewise quadratic Lyapunov function in both the...