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Tao, T. (author), Roy, S. (author), Baldi, S. (author)This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original...conference paper 2022
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Yue, Dongdong (author), Baldi, S. (author), Cao, Jinde (author)In this paper, we revisit the problem of consensus disturbance rejection for multiagent systems over a digraph, but from a different perspective, i.e., the perspective of a directed spanning tree (DST). When the minimum nonzero real part of the Laplacian eigenvalues is available, we reproduce the sufficient lower bound for a static...conference paper 2022
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Li, Peng (author), Liu, Di (author), Xia, Xin (author), Baldi, S. (author)The operation of Unmanned Aerial Vehicles (UAVs) is often subject to state-dependent alterations and unstructured uncertainty factors, such as unmodelled dynamics, environmental weather disturbances, aerodynamics gradients, or changes in inertia and mass due to payloads. While a large number of autopilot solutions have been proposed to operate...conference paper 2022
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Liu, Zhengqiang (author), Liu, Di (author), Yu, Wenwu (author), Baldi, S. (author)In recent years, platooning solutions like cooperative adaptive cruise control (CACC) have been deeply studied. It is common in such platooning literature to assume that the vehicles drive on the same lane (longitudinal platooning). At the same time, lateral control during merging maneuvers is commonly addressed as a path planning problem, in...conference paper 2022
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Tao, T. (author), Roy, Spandan (author), Baldi, S. (author)We address a distributed adaptive synchronization problem for complex networks composed of nonlinear nodes under state-dependent a priori interconnections, i.e. interconnection terms acting before control design. The interconnection terms are uncertain and the heterogeneous dynamics of the network nodes further contain state-dependent...conference paper 2021
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Coimbatore Anand, Sribalaji (author), Baldi, S. (author)Demand side energy management (DSEM) promises to regulate ensembles of loads to track desired power levels, in response to grid events (demand peaks, emergencies, variable renewable power generation, etc). A large fraction of such loads are Thermostatically Controlled Loads (TCLs) such as refrigerators, electric water heaters, and air...conference paper 2020
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Baldi, S. (author), Rosa, Muhammad Ridho (author), Wang, Yuzhang (author)This work extends and compares some recent model+learning-based methodologies for optimal control with input saturation. We focus on two methodologies: a model-based actor-critic (MBAC) strategy, and a nonlinear policy iteration strategy. To evaluate the performance of the algorithms, these strategies are applied to the swinging up an...conference paper 2020
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Chen, Yong (author), Lv, Maolong (author), Baldi, S. (author), Liu, Zongcheng (author), Zhang, Wenqian (author), Zhou, Yang (author)This work focuses on adaptive neural dynamic surface control (DSC) for an extended class of nonlinear MIMO strict-feedback systems whose control gain functions are continuous and possibly unbounded. The method is based on introducing a compact set which is eventually proved to be an invariant set: thanks to this set, the restrictive...conference paper 2019
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Jagga, Dhruv (author), Lv, Maolong (author), Baldi, S. (author)To guarantee the safety of passengers in a wide range of driving situations, vehicle lateral stability should be achieved in the presence of nonlinear dynamics (consequence of critical maneuvers) and uncertainty (consequence of uncertain parameters). This paper designs a hybrid adaptive strategy to attain vehicle stability in these situations...conference paper 2018
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Moustakis, N. (author), Yuan, S. (author), Baldi, S. (author)This paper establishes an adaptive tracking approach for linear systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the control loop. In order to address the tracking problem, a novel dynamic quantizer with dynamic offset is introduced and embedded into an...conference paper 2018
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Azzollini, Ilario A. (author), Baldi, S. (author), Kosmatopoulos, Elias B. (author)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...conference paper 2018
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Baldi, S. (author), Azzollini, Ilario A. (author), Kosmatopoulos, Elias B. (author)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...conference paper 2018
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Zhou, Bingyu (author), Satyavada, Harish (author), Baldi, S. (author)In this paper, an adaptive control scheme for Unmanned Aerial Vehicles (UAVs) path following under slowly time-varying wind is developed. The proposed control strategy integrates the path following law based on the vector field method with an adaptive term counteracting the effect of wind's unknown component. In particular, it is shown that...conference paper 2017
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Abou Harfouch, Youssef (author), Yuan, S. (author), Baldi, S. (author)Despite the progresses in Cooperative Adaptive Cruise Control (CACC), a crucial limitation of the state-of-the-art of this control scheme is that the string stability of the platoon can be proven only when the vehicles in the platoon have identical driveline dynamics (homogeneous platoons). In this paper, we present a novel control strategy...conference paper 2017
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Abdul Rachman, Arya Senna (author), Idriz, Adem Ferad (author), Li, Shiqian (author), Baldi, S. (author)The state of the art in automotive control has proposed several analytical, simulation and experimental studies of longitudinal adaptive cruise control strategies, and of lateral control strategies. However, methodical integration of these two strategies is to a large extent missing, as well as validation in real-time computing environment of...conference paper 2017
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Korkas, Christos D. (author), Baldi, S. (author), Michailidis, Iakovos (author), Boutalis, Yiannis (author), Kosmatopoulos, Elias B. (author)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...conference paper 2016
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Baldi, S. (author), Kosmatopoulos, Elias B. (author), Pitsillides, Andreas (author), Lestas, Marios (author), Ioannou, Petros A. (author), Wan, Y. (author)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...conference paper 2016
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Baldi, S. (author), Valmorbida, Giorgio (author), Papachristodoulou, Antonis (author), Kosmatopoulos, Elias B. (author)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...conference paper 2016
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Baldi, S. (author)This work proposes an iterative procedure for static output feedback of polynomial systems based on Sum-of-Squares optimization. Necessary and sufficient conditions for static output feedback stabilization of polynomial systems are formulated, both for the global and for the local stabilization case. Since the proposed conditions are bilinear...conference paper 2016
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Le, Q.T. (author), van den Boom, A.J.J. (author), Baldi, S. (author)This paper investigates the identification of continuous piecewise affine systems in state space form with jointly unknown partition and subsystem matrices. The partition of the system is generated by the so-called centers. By representing continuous piecewise affine systems in the max-form and using a recursive Gauss-Newton algorithm for a...conference paper 2016
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