arXiv subjects

Jose A. Solano-Castellanos

Publications and source records attributed to Jose A. Solano-Castellanos.

5 recordsLinked to original sources

arXiv2026

A Control Architecture for Fast Frequency Regulation with Increasing Penetration of Inverter Based Resources (Extended Version)

This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop and Virtual Synchronous Machine (VSM) primary control with a Model Predictive Control (MPC) secondary layer operating at realistic control-room update rates. Unlike recently proposed approaches, the proposed framework integrates MPC within existing grid control structures, enabling constraint-aware coordination. A reduced-order frequency response model is systematically derived from a detailed grid model using Hankel singular values, and a reduced-order Kalman-Bucy observer enables state and disturbance estimation using only measurable outputs. Evaluation using representative data from the Kingdom of Saudi Arabia demonstrates effective frequency regulation under realistic operating conditions.

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arXiv2025

Safe and Stable Formation Control with Autonomous Multi-Agents Using Adaptive Control (Extended Version)

This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an integrative approach that combines Adaptive Control, Control Barrier Functions (CBFs), and connected graphs. The main elements employed in the integrative approach are an adaptive control design that ensures stability, a CBF-based safety filter that generates safe commands based on a reference model dynamics, and a reference model that ensures formation control with multi-agent systems when no uncertainties are present. The overall control design is shown to lead to a closed-loop adaptive system that is stable, avoids unsafe regions, and converges to a desired formation of the multi-agents. Numerical examples are provided to support the theoretical derivations.

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arXiv2024

Control-Coherent Koopman Modeling: A Physical Modeling Approach

The modeling of nonlinear dynamics based on Koopman operator theory, which is originally applicable only to autonomous systems with no control, is extended to non-autonomous control system without approximation to input matrix B. Prevailing methods using a least square estimate of the B matrix may result in an erroneous input matrix, misinforming the controller about the structure of the input matrix in a lifted space. Here, a new method for constructing a Koopman model that comprises the exact input matrix B is presented. A set of state variables are introduced so that the control inputs are linearly involved in the dynamics of actuators. With these variables, a lifted linear model with the exact control matrix, called a Control-Coherent Koopman Model, is constructed by superposing control input terms, which are linear in local actuator dynamics, to the Koopman operator of the associated autonomous nonlinear system. The proposed method is applied to multi degree-of-freedom robotic arms and multi-cable manipulation systems. Model Predictive Control is applied to the former. It is demonstrated that the prevailing Dynamic Mode Decomposition with Control (DMDc) using an approximate control matrix B does not provide a satisfactory result, while the Control-Coherent Koopman Model performs well with the correct B matrix.

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arXiv2023

A Finite Element Method Approach for Trajectory Generation via Time-Optimal Control and Model Predictive Control Tracking

In this paper a framework for solving the time optimal control (TOC) using Galerkin's Weighted Residuals Method (GWRM) and Sequential Convex Programming (SCP) is proposed. The proposed method solves the two-point boundary value problem, avoiding the use of shooting methods that rely heavily on the appropriate initialization of the adjoint state and optimal time. Since TOC yields an open-loop controller, a Model Predictive Control (MPC) scheme is employed to track both the optimal trajectory and controller, allowing the system to reject disturbances. The approach is validated using the Dubins' car dynamics for optimal time trajectory generation.

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arXiv2023

Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing

In this paper, we present a methodology that uses an optical tactile sensor for efficient tactile exploration of embedded objects within soft materials. The methodology consists of an exploration phase, where a probabilistic estimate of the location of the embedded objects is built using a Bayesian approach. The exploration phase is then followed by a mapping phase which exploits the probabilistic map to reconstruct the underlying topography of the workspace by sampling in more detail regions where there is expected to be embedded objects. To demonstrate the effectiveness of the method, we tested our approach on an experimental setup that consists of a series of quartz beads located underneath a polyethylene foam that prevents direct observation of the configuration and requires the use of tactile exploration to recover the location of the beads. We show the performance of our methodology using ten different configurations of the beads where the proposed approach is able to approximate the underlying configuration. We benchmark our results against a random sampling policy.

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