26 citations · 115 across the 68 of their papers we have counts for
29 papers · 1 filter
Decentralized Stability Certificates in IBR-Dominated Grids: The Role of the Network State
Zhimeng Wang, Sushobhan Chatterjee, Sijia Geng +2
Small-signal instabilities, such as unforced sub-synchronous oscillations (SSOs), are increasingly observed in inverter-based resource (IBR) dominated grids. While decentralized st…
Learning Reachability of Energy Storage Arbitrage
Tomás Tapia, Agustin Castellano, Enrique Mallada +1
Power systems face increasing weather-driven variability and, therefore, increasingly rely on flexible but energy-limited storage resources. Energy storage can buffer this variabil…
Data-driven Acceleration of MPC with Guarantees
Agustin Castellano, Shijie Pan, Enrique Mallada
Model Predictive Control (MPC) is a powerful framework for optimal control but can be too slow for low-latency applications. We present a data-driven framework to accelerate MPC by…
Data-driven Practical Stabilization of Nonlinear Systems via Chain Policies: Sample Complexity and Incremental Learning
Roy Siegelmann, Enrique Mallada
We propose a method for data-driven practical stabilization of nonlinear systems with provable guarantees, based on the concept of Nonparametric Chain Policies (NCPs). The approach…
Recurrent Control Barrier Functions: A Path Towards Nonparametric Safety Verification
Jixian Liu, Enrique Mallada
Ensuring the safety of complex dynamical systems often relies on Hamilton-Jacobi (HJ) Reachability Analysis or Control Barrier Functions (CBFs). Both methods require computing a fu…
Safety-Critical Control via Recurrent Tracking Functions
Jixian Liu, Enrique Mallada
This paper addresses the challenge of synthesizing safety-critical controllers for high-order nonlinear systems, where constructing valid Control Barrier Functions (CBFs) remains c…
Safe Physics-Informed Machine Learning for Dynamics and Control
Jan Drgona, Truong X. Nghiem, Thomas Beckers +6
This tutorial paper focuses on safe physics-informed machine learning in the context of dynamics and control, providing a comprehensive overview of how to integrate physical models…
Recurrence of Nonlinear Control Systems: Entropy and Bit Rates
Hussein Sibai, Enrique Mallada
In this paper, we introduce the notion of recurrence entropy in the context of nonlinear control systems. A set is said to be (-)recurrent if every trajectory that starts in the…
Closed-Loop Motion Planning for Differentially Flat Systems: A Time-Varying Optimization Framework
Tianqi Zheng, John W. Simpson-Porco, Enrique Mallada
Motion planning and control are two core components of the robotic autonomy stack. The standard way to combine them uses an offline/open-loop stage, planning, which designs a feasi…
A Frequency Domain Analysis of Slow Coherency in Networked Systems
Hancheng Min, Richard Pates, Enrique Mallada
Network coherence generally refers to the emergence of simple aggregated dynamical behaviours, despite heterogeneity in the dynamics of the subsystems that constitute the network.…
Learning Coherent Clusters in Weakly-Connected Network Systems
Hancheng Min, Enrique Mallada
We propose a structure-preserving model-reduction methodology for large-scale dynamic networks with tightly-connected components. First, the coherent groups are identified by a spe…
Spectral clustering and model reduction for weakly-connected coherent network systems
Hancheng Min, Enrique Mallada
We propose a novel model-reduction methodology for large-scale dynamic networks with tightly-connected components. First, the coherent groups are identified by a spectral clusterin…
Closed-Form Minkowski Sum Approximations for Efficient Optimization-Based Collision Avoidance
James Guthrie, Marin Kobilarov, Enrique Mallada
Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation…
Learning to Act Safely with Limited Exposure and Almost Sure Certainty
Agustin Castellano, Hancheng Min, Juan Bazerque +1
This paper puts forward the concept that learning to take safe actions in unknown environments, even with probability one guarantees, can be achieved without the need for an unboun…
Voltage Collapse Stabilization in Star DC Networks
Charalampos Avraam, Enrique Mallada
Voltage collapse is a type of blackout-inducing dynamic instability that occurs when power demand exceeds the maximum power that can be transferred through a network. The tradition…
Coherence and Concentration in Tightly-Connected Networks
Hancheng Min, Richard Pates, Enrique Mallada
The ability to achieve coordinated behavior -- engineered or emergent -- on networked systems has attracted widespread interest over several fields. This interest has led to remark…
On the Value of Energy Storage in Generation Cost Reduction
Yue Shen, Maxim Bichuch, Enrique Mallada
This work seeks to quantify the benefits of using energy storage toward the reduction of the energy generation cost of a power system. A two-fold optimization framework is provided…
Grid-forming frequency shaping control
Yan Jiang, Andrey Bernstein, Petr Vorobev +1
As power systems transit to a state of high renewable penetration, little or no presence of synchronous generators makes the prerequisite of well-regulated frequency for grid-follo…
Storage-Based Frequency Shaping Control
Yan Jiang, Eliza Cohn, Petr Vorobev +1
With the decrease in system inertia, frequency security becomes an issue for power systems around the world. Energy storage systems (ESS), due to their excellent ramping capabiliti…
Performance of Single and Double-Integrator Networks over Directed Graphs
H. Giray Oral, Enrique Mallada, Dennice F. Gayme
This paper provides a framework to evaluate the performance of single and double integrator networks over arbitrary directed graphs. Adopting vehicular network terminology, we cons…
Dynamic Droop Approach for Storage-based Frequency Control
Yan Jiang, Eliza Cohn, Petr Vorobev +1
Transient frequency dips that follow sudden power imbalances --frequency Nadir-- represent a big challenge for frequency stability of low-inertia power systems. Since low inertia i…
Implicit Trajectory Planning for Feedback Linearizable Systems: A Time-varying Optimization Approach
Tianqi Zheng, John Simpson-Porco, Enrique Mallada
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target t…
Accurate Reduced-Order Models for Heterogeneous Coherent Generators
Hancheng Min, Fernando Paganini, Enrique Mallada
We introduce a novel framework to approximate the aggregate frequency dynamics of coherent generators. By leveraging recent results on dynamics concentration of tightly connected n…
Dynamic Droop Control in Low-inertia Power Systems
Yan Jiang, Richard Pates, Enrique Mallada
A widely embraced approach to mitigate the dynamic degradation in low-inertia power systems is to mimic generation response using grid-connected inverters to restore the grid's sti…