Research
Research
Research
Research
423+ open-access research outputs.
We propose a generalized dynamic phasor (DP) framework to analyze inverter-based resources (IBRs) connected to multi-machine systems under balanced and unbalanced conditions. It captures subsynchronou…
In process operations, it is desirable to manage the sensitivity of the system output against external disturbance in the form of finite $\mathcal{L}_2$-gain stabilization. This matter is, however, no…
A $G$-normal random variable $X\sim \mathcal{N}(0,[\underline{\sigma}^2,\overline{\sigma}^2])$ does not admit a unique probability law due to volatility uncertainty. For a given test function $\phi$, …
Optimal stabilization of safety-critical nonlinear systems requires balancing long-term performance and strict safety constraints. Existing quadratic-programming-based control barrier function (CBF) s…
Autonomous multi-agent target tracking in GPS-denied and communication-restricted environments (e.g., underwater exploration, subterranean search and rescue, and adversarial domains) forces agents to …
In this work, we propose an efficient and transparent green learning pipeline to address the automatic modulation classification (AMC) problem. This pipeline aims to enable receivers to blindly identi…
This paper develops a cooperative fault-tolerant control framework for heterogeneous networked linear systems subject to sensor degradation and external disturbances. Each unit employs an augmented $\…
We propose regularized approximate message passing (RAMP), a low-complexity algorithm for discrete signal detection in overloaded multiple-input multiple-output (MIMO) systems where the number of tran…
Robotic exploration in large-scale environments is computationally demanding due to the high overhead of processing extensive frontiers. This article presents an OctoMap-based frontier exploration alg…
Safe operation of autonomous systems requires robustness to both model uncertainty and uncertainty in the environment. We propose DRP-$\mathcal{L}_1$AC, a hierarchical framework for stochastic nonline…
Extremely Large Antenna Arrays (ELAA) operating at sub-terahertz frequencies introduce a regime where near-field Fresnel propagation and high-mobility carrier Doppler interact simultaneously, creating…
Certifying safety for nonlinear systems with polytopic input constraints is challenging because CBF synthesis must ensure control admissibility under saturation. We propose an approximation--verificat…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a line…
Input delays are a common source of performance degradation and instability in control systems. This paper addresses the $\mathcal{H}_\infty$ output-feedback control problem for LPV systems with time-…
We present PROBE (PRobabilistic Occupancy BEV Encoding), a learning-free LiDAR place recognition descriptor that models each BEV cell's occupancy as a Bernoulli random variable. Rather than relying on…
Repetitive motion tasks are common in robotics, but performance can degrade over time due to environmental changes and robot wear and tear. Iterative learning control (ILC) improves performance by usi…
In this letter, Lyapunov-based synthesis of a PI-like controller is proposed for $\mathcal{L}_2$-stable motion control of an independently driven and steered four-wheel mobile robot. An explicit, stru…
This paper develops a new control framework for linear parameter-varying (LPV) systems with time-varying state delays by integrating parameter-dependent Lyapunov functions with integral quadratic cons…
Mutual information (MI) is a principled and widely used objective for robotic information gathering (RIG), providing strong theoretical guarantees for sensor placement (SP) and informative path planni…
Cooperative Adaptive Cruise Control (CACC) enables vehicle platooning through inter-vehicle communication, improving traffic efficiency and safety. Conventional CACC relies on feedback linearization, …
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