5 papers
Conditions for Complete Decentralization of the Linear Quadratic Regulator
Addie McCurdy, Isabel Collins, Emily Jensen
An unconstrained optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller.…
Implications of Grid-Forming Inverter Parameters on Disturbance Localization and Controllability
Matt Baughman, Marena Trujillo, Bri-Mathias Hodge +1
The shift from traditional synchronous generator (SG) based power generation to generation driven by power electronic devices introduces new dynamic phenomena and considerations fo…
A System Level Approach to LQR Control of the Diffusion Equation
Addie McCurdy, Andrew Gusty, Emily Jensen
The optimal controller design problem for a linear, first-order spatially-invariant distributed parameter system is considered. Through a case study of the Linear Quadratic Regulat…
Complete Decentralization of Linear Quadratic Gaussian Control for the Discrete Wave Equation
Addie McCurdy, Emily Jensen
The linear quadratic Gaussian (LQG) control problem for the linear wave equation on the unit circle with fully distributed actuation and partial state measurements is considered. A…
HRI Curriculum for a Liberal Arts Education
Jason R. Wilson, Emily Jensen
In this paper, we discuss the opportunities and challenges of teaching a human-robot interaction course at an undergraduate liberal arts college. We provide a sample syllabus adapt…