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Pezzato, C. (author)In an ever-evolving society, the demand for autonomous robots equipped with human-level capabilities is becoming increasingly imperative. Various factors, such as an aging population and a shortage of labor for repetitive and physically demanding tasks, have underscored the need for capable autonomous robots to assist us in our daily activities....doctoral thesis 2024
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Xiao, J. (author), Wang, L. (author), Qin, Z. (author), Bauer, P. (author)Communication-based distributed secondary control is deemed necessary to restore the state of islanding AC microgrids to set points. As its limited global information, the microgrids become vulnerable to cyber-attacks, which by falsifying the communicating singles, like the angular frequency, can disturb the power dispatch in the microgrids...journal article 2024
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Sun, D. (author), Jamshidnejad, A. (author), De Schutter, B.H.K. (author)Traffic control is essential to reduce congestion in both urban and freeway traffic networks. These control measures include ramp metering and variable speed limits for freeways, and traffic signal control for urban traffic. However, current traffic control methods are either too simple to respond to complex traffic environment, or too...journal article 2023
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Xiao, J. (author), Wang, L. (author), Qin, Z. (author), Bauer, P. (author)Distributed secondary control is deemed necessary to restore the state of AC micro-grids to set points. However, for its limited global information, the power electronic system is vulnerable to cyber-attacks that aim to desynchronize converters or even cause a shutdown of micro-grids by unnecessarily triggering the protection schemes. To this...conference paper 2022
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Wang, C. (author), Wang, S. (author), de Croon, G.C.H.E. (author), Hamaza, S. (author)Flapping wing micro aerial vehicles (FWMAVs) are known for their flight agility and maneuverability. These bio-inspired and lightweight flying robots still present limitations in their ability to fly in direct wind and gusts, as their stability is severely compromised in contrast with their biological counterparts. To this end, this work aims at...journal article 2022
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Wei, Lianzhen (author), Gong, Jianwei (author), Chen, Huiyan (author), Li, Z. (author), Gong, Cheng (author)To deal with the nonlinear interference caused by chassis movement and road surface undulations with the tracking and aiming of unmanned combat ground vehicles, a tracking and aiming adaptive control method for unmanned combat ground vehicles on the move based on reinforcement learning compensation is proposed. This method consists of a main...journal article 2022
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Jain, V. (author), Liu, Di (author), Baldi, S. (author)While several synchronization-based protocols have been provided for formation-keeping of cooperative vehicles, the problem of synchronized merging is more challenging. Challenges associated to the merging scenario include the need for establishing bidirectional interaction (in place of unidirectional look-ahead interaction), and the need for...journal article 2021
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Tao, T. (author), Roy, S. (author), Baldi, S. (author)Multi-area load frequency control (LFC) selects and controls a few generators in each area of the power system in an effort to dampen inter-area frequency oscillations. To effectively dampen such oscillations, it is required to enhance and lower the control activity dynamically during operation, so as to adapt to changing circumstances....journal article 2021
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Liu, Di (author), Baldi, S. (author), Jain, V. (author), Yu, Wenwu (author), Frasca, Paolo (author)Recently proposed adaptive platooning strategies for connected automated vehicles are able to cope with uncertain vehicle parameters (uncertain driveline time constants), but can handle only acyclic graphs like look-ahead graphs. This prevents from enhancing platooning protocols with synchronized merging maneuvers, where cyclic communication...journal article 2021
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Trumic, Maja (author), Della Santina, C. (author), Jovanovic, Kosta (author), Fagiolini, Adriano (author)Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid...journal article 2021
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Trumic, Maja (author), Della Santina, C. (author), Jovanovic, Kosta (author), Fagiolini, Adriano (author)Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid...conference paper 2021
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Sun, B. (author), van Kampen, E. (author)This paper proposes a novel adaptive dynamic programming method, called Incremental model-based Global Dual Heuristic Programming, to generate a self-learning adaptive controller, in the absence of sufficient prior knowledge of system dynamics. An incremental technique is employed for online model identification, instead of the artificial...journal article 2019
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Yuan, S. (author)As a special class of hybrid systems, switched systems have attracted a lot of attention in the last decade due to theoretical and practical interests. When controlling switched systems, a ubiquitous problem is the presence of large parametric uncertainties and external disturbances. However, the state of the art on adaptive and robust control...doctoral thesis 2018
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Baldi, S. (author), Rosa, Muhammad Ridho (author), Frasca, Paolo (author), Kosmatopoulos, Elias B. (author)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...journal article 2018
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Baldi, S. (author), Rosa, Muhammad Ridho (author), Frasca, Paolo (author)Using a setting in which the input is communicated among neighbors (without exchanging any distributed observer variables), the problem of synchronizing an acyclic network of linear uncertain agents has been formulated recently as a distributed model reference adaptive control (MRAC) where each agent tries to converge to the model defined by...journal article 2018
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- Ho, H.W. (author) doctoral thesis 2017
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Abou Harfouch, Youssef (author), Yuan, S. (author), Baldi, S. (author)The advances in distributed inter-vehicle communication networks have stimulated a fruitful line of research in Cooperative Adaptive Cruise Control (CACC). In CACC, individual vehicles, grouped into platoons, must automatically adjust their own speed using on-board sensors and communication with the preceding vehicle so as to maintain a safe...journal article 2017
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Ghosh, D. (author), Baldi, S. (author)Several classes of multi-model adaptive control schemes have been proposed in literature: instead of one single parameter-varying controller, in this adaptive methodology multiple fixed-parameter controllers for different operating regimes (i.e. different models) are utilised. Despite advances in multi-model adaptive control theory, the question...journal article 2017
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Alders, E.E. (author)<br/>doctoral thesis 2016
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Ghosh, D. (author), Baldi, S. (author)Several multiple model adaptive control architectures have been proposed in the literature. Despite many advances in theory, the crucial question of how to synthesize the pairs model/controller in a structurally optimal way is to a large extent not addressed. In particular, it is not clear how to place the pairs model/controller is such a way...journal article 2016
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