arXiv subjects

Yating Yuan

Publications and source records attributed to Yating Yuan.

4 recordsLinked to original sources

arXiv2026

An Enhanced Submodule for Modular Multilevel Converter with DC Fault Ride-Through Capability

Modular multilevel converter (MMC) has been successfully applied in various power electronic systems owing to its high efficiency, scalability, and superior output performance. Although the half-bridge submodule (HBSM) is widely used in MMCs for its structural simplicity, it is incapable of handling direct-current (DC) short-circuit faults. The diode-clamp submodule (DCSM) addresses this limitation by providing DC fault ride-through capability. However, because its two identical capacitors are connected in series, the equivalent capacitance is halved. To overcome this drawback, an enhanced SM is proposed in this paper. For the same energy storage capacity, the proposed SM reduces the total required capacitance by 75% compared with the DCSM. In addition, the proposed SM requires one fewer diode than the DCSM, thereby lowering the overall MMC capital cost. The topology and the operating modes of the proposed SM are described in detail, and its functionality is experimentally validated. The results demonstrate that the proposed SM can suppress DC fault currents and restore normal operation without additional external protection devices.

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arXiv2026

Patching Control Lyapunov Barrier Functions for Temporal Logic Specifications with Bounded Controls

We propose an abstraction-free framework for controller synthesis for continuous-time dynamical systems subject to Linear Temporal Logic (LTL) specifications and bounded control inputs. The proposed method combines the sequential decomposition of LTL tasks with the use of formally certified Control Lyapunov-Barrier Functions (CLBFs). By formulating local specifications as a sequence of safe-stabilization problems, we systematically approximate and patch the winning sets of the decomposed subtasks. The satisfaction of these local constraints is guaranteed by the offline-computed level sets of the CLBFs. As a result, our framework yields formally verified switching feedback controllers that enable efficient online planning and dynamic re-planning. This ensures robust continuous specification satisfaction in the presence of state perturbations, avoiding the explicit state-space abstractions commonly required in the literature. The approach is validated through numerical simulations and a hardware demonstration on a Crazyflie quadrotor.

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arXiv2025

Continuous-Time Control Synthesis for Multiple Quadrotors under Signal Temporal Logic Specifications

Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time satisfaction of the specifications. To ensure such control, a two-stage framework is proposed to address this challenge. First, based on geometric control, a Lyapunov-based analysis of the rotational tracking dynamics is performed to facilitate multidimensional gain design. In addition, tracking-error bounds for subsequent STL robustness analysis are derived. Second, using the tracking-error bounds, a mixed-integer convex programming (MICP)-based planning framework with a backward-recursive scheme is developed. The framework is used to generate reference trajectories that satisfy multi-agent STL tasks while meeting the trajectory requirements imposed by geometric control. Numerical simulations demonstrate that, compared with uniform gains, the optimized multidimensional gains yield less conservative time-varying bounds, mitigate oscillations, and improve transient performance, while the proposed framework ensures the satisfaction of multi-agent STL tasks in constrained environments with provable tracking guarantees.

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arXiv2024

Signal Temporal Logic Planning with Time-Varying Robustness

This letter aims to generate a continuous-time trajectory consisting of piecewise B\'ezier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. Our time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, our continuous-time trajectories account for dynamic feasibility, leading to smaller tracking errors and ensuring that the STL specifications can be met by the tracking trajectory. Comparative experiments demonstrate the efficiency and effectiveness of the proposed approach.

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