Azwirman Gusrialdi

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• Dr.-Ing.
• Professor (Associate) at Tampere University

This paper addresses the challenge of developing an energy management system (EMS) for a series hybrid wheel loader that must operate in extreme temperatures (i.e., −20 °C and 35 °C) without an active cooling/heating system. Current research solving similar challenges often relies on EMS strategies that require prior knowledge of future driving con...

Eigenvalue analysis is central in stability analysis and control design of linear dynamic systems. While eigen-analysis is a standard tool, determining eigenvalues of multi-agent systems and/or interconnected dynamical systems remains challenging due to the sheer size of such systems, changes of their topology, and limited information about subsyst...

This paper considers the problem of formation control of multi-robot systems represented by a graph featuring both rigid and elastic edges, capturing specified range tolerance to the desired inter-robot distances. The objective is to navigate the robots safely through unknown environments with obstacles, utilizing onboard sensors like LiDAR while m...

The book chapter presents a solution to enhance the resilience of multi-agent cooperative systems against cyber-attacks. Specifically, the threat involves adversaries aiming to prevent the cooperative systems from achieving consensus by launching false data injection (FDI) or denial-of-service (DoS) attacks on the communication network. First, a di...

The deployment of a group of robots equipped with sensors for monitoring, also known as a robotic sensor network, is a promising technological solution to solve time-critical societal and environmental issues. This paper considers the problem of deploying a robotic sensor network to persistently and effectively monitor multiple locations of interes...

This paper presents a novel resilient distributed optimization algorithm for a network of agents. It guarantees that the local estimates of the agents converge close to the optimal solution of the original optimization problem, even in the presence of unknown but bounded attacks on both the agent’s local computation and communication network. To th...

This paper presents a novel extension of the Control Barrier Function (CBF) as the low-level safety controller for autonomous mobile robots navigating in unknown environments. The main challenges of implementing CBF in real-world situations arise from the absence of a model or the lack of an exact one for the environment. Additionally, online learn...

The growing complexity of power systems, driven by the increasing use of renewable energy sources, necessitates efficient real‐time monitoring of electromechanical oscillations, which is crucial for enhancing grid security. Dynamic Mode Decomposition (DMD) is a promising data‐driven method for addressing this challenge of monitoring the electromech...

This paper presents a novel and unified distributed control framework that ensures resilient leader-follower consensus in the presence of unknown but bounded attacks on both the communication network and actuators while simultaneously preserving the privacy of an agent’s physical state from eavesdroppers. To this end, a virtual state and time-varyi...

This paper focuses on the development of a resilient cooperative control system for leader-follower consensus problems prone to external cyber-attacks. The attackers are assumed to adversely impact data integrity and privacy by (i) injecting unknown bounded exogenous signals to actuators and (ii) eavesdropping on the physical states of followers. T...

This paper considers the use of static and mobile sensors (quadrotors) for persistent monitoring in an indoor farming scenario. The focus is on autonomous navigation of the quadrotors to monitor the coverage holes generated by a number of broken static sensors. To that end, a three-layer strategy is proposed by (i) dividing the coverage holes into...

The strong connectivity of a directed graph associated with the communication network topology is crucial in ensuring the convergence of many distributed estimation/control/optimization algorithms. However, the assumption on the network's strong connectivity may not always be satisfied in practice. In addition, information on the overall network to...

This article considers the link removal problem in a strongly connected directed network with the goal of minimizing the dominant eigenvalue of the network’s adjacency matrix while maintaining its strong connectivity. Due to the complexity of the problem, this article focuses on computing a suboptimal solution. Furthermore, it is assumed that the k...

This letter presents a distributed protocol based on competitive interaction design method to solve the dynamic average-consensus problem on strongly-connected balanced directed graphs in the presence of adversaries. The competitive interaction method allows us to design a network that protects the multi-agent systems from adversaries without requi...

This paper considers a cooperative control problem in presence of unknown attacks. The attacker aims at destabilizing the consensus dynamics by intercepting the system’s communication network and corrupting its local state feedback. We first revisit the virtual network based resilient control proposed in our previous work and provide a new interpre...

This paper presents a distributed resilient consensus protocol based on competitive interaction design method to solve consensus problem on general digraphs containing directed spanning tree in the presence of cyber-attacks. The attacker aims at destabilizing the consensus dynamics by intercepting the systems communication network. The competitive...

This paper proposes a resilient distributed control scheme that ensures average consensus in multi-agent systems with continuous-time single-integrator kinematics in the presence of cyber-attacks. Potential cyber-attacks considered on such systems are in the form of unknown uniformly bounded false data injection (FDI) to control input channels (act...

Speed control of DC motor needs excellent robustness to guarantee its function to work properly against uncertainty and disturbance. The uncertainty may occur because of mechatronic component degradation, sensor noise, and environmental effect. Overload and accident have the possibility to be a significant disturbance. The performance of the DC mot...

Integration of information and communication technology (ICT) offers new opportunities in improving the management and operation of critical infrastructures such as power systems as it allows connection of different sensors and control components via a communication network, leading to the so-called networked control systems (NCS). However, the use...

Due to the complexity of the power system model, model-free or data-driven methods are promising for real-time electromechanical oscillations monitoring and allow grid operators to better manage the grid security and maximize transfer capacity during real-time operation. Dynamic mode decomposition (DMD) is a promising data-driven method and has bee...

This paper considers the problem of distributively verifying and ensuring strong connectivity of directed networks. Strong connectivity of a directed graph associated with the communication network topology is crucial in ensuring the convergence of many distributed algorithms. Specifically, inspired by maximum consensus algorithm, we first propose...

The cooperative resilient leader-following consensus-based control algorithms are implemented on ROS (Robot Operating Systems). * Link to experimental results: https://www.youtube.com/watch?v=L_rS3KG6LUE

This paper develops a resilient cooperative control system for leader-follower consensus problems subject to false data injection attacks. The attackers are assumed to inject unknown bounded exogenous signals to the actuators of followers and/or the communication networks of the leader and follower states. In order to attenuate the effects of such...

This paper considers the problem of removing a fraction of links from a strongly connected directed network such that the largest (in module) eigenvalue of the adjacency matrix corresponding to the network structure is minimized. Due to the complexity of the problem, an effective and scalable algorithm based on eigenvalue sensitivity analysis is pr...

This paper considers the problem of designing a resilient distributed voltage control algorithm for distribution systems with high penetration of distributed energy resources in the presence of an unknown cyber-attack. The purpose of the attack is to force the system to violate the operating voltage limit by intercepting its communication channels...

The paper presents data-driven algorithms to estimate in a distributed manner the eigenvalues, right and left eigenvectors of an unknown linear (or linearized) interconnected dynamic system. In particular, the proposed algorithms do not require the identification of the system model in advance before performing the estimation. As a first step, we c...

Cyber-physical-human systems naturally arise from interdependent infrastructure systems and smart connected communities. Such applications require ubiquitous information sensing and processing, intelligent machine-to-machine communication for a seamless coordination, as well as intelligent interactions between humans and machines. This chapter pres...

Electric grids in the future will be highly integrated with information and communications technology. The increase in use the of information technology is expected to enhance reliability, efficiency, and sustainability of the future electric grid through the implementation of sophisticated monitoring and control strategies. However, it also comes...

Electric grids in the future will be highly integrated with information and communications technology resulting in a complex cyber-physical system. The increase in the use of information technology is expected to enhance reliability, efficiency, and sustainability of the future electric grid through the implementation of sophisticated monitoring an...

This paper considers the problem of network structure manipulation in the absence of information on the global network topology. In particular, the problem of removing some of links is investigated in order to slow or stop the spread of disease in a network while preserving its connectivity. Existing methods solve this combinatorial problem in a ce...

This technical note proposes a resilient cooperative control design for networked cooperative systems when subjected to external attacks. The systems considered in this paper can have any information topology described by a leader-follower digraph. A potential attack on such systems consists of unknown bounded signals generated from any linear or n...

In this paper, we consider distributed optimal feedback control design problem for a network of heterogeneous systems. The agents are coupled through their linear quadratic cost function and their interaction (communication) topology is given by a strongly connected directed graph. The goal is to design a distributed optimal feedback control which...

This paper considers the problem of estimating all the eigenvalues and eigenvectors of an irreducible matrix, corresponding to a strongly connected digraph, in the absence of knowledge on the global network topology. To this end, we propose a unified distributed strategy performed by each node in the network and relies only on the local information...

The increasing number of electric vehicles (EVs) on highways calls for the installment of adequate charging infrastructure. Since charging infrastructure has limited capacity, EVs need to wait at a charging station to get charged, and their waiting times may differ significantly from one location to another. This paper aims at developing a strategy...

Electric transit buses have been recognized as an important alternative to diesel buses with many environmental benefits. Electric buses employing lithium titanate batteries can provide uninterrupted transit service thanks to their ability of fast charging. However, fast charging may result in high demand charges which will increase the fuel costs...

In this paper, we study the stability, instability and (sustained) oscillatory trajectories of cooperative systems where in addition to the existence of communication and input delays, the agents may also have access to non-delayed local feedback information to themselves. Specifically, we analyze the relation between the portion of non-delayed loc...

In this paper, we propose two adaptive control schemes for multiple-input systems for execution of robot end-effector movements in the presence of parametric system uncertainties. The design of these schemes is based on Model Reference Adaptive Control (MRAC) while the adaptation of the controller parameters is achieved by Extremum Seeking Control...

In this paper, we propose a restorative method to minimize the unserved demand in a power distribution network due to line outage. The restoration is achieved by tie-line switching and by solving a mixed-integer non-linear problem. By exploiting the information on pre-contingency solution, topology together with post-contingency line congestion req...

In this paper, we consider the problem of designing a resilient cooperative system from the perspective of differential game theory, as the conflict between a defender (i.e., the system's control designer) and any potential attacker. Intuitively, a resilient system is one in which the defender is a superior player to any potential adversary. It is...

Due to their limited ranges, electric vehicles (EVs) need to be periodically charged during their long-distance travels on a highway. Compared to the fossil-fuel powered vehicles, the charging of a single EV takes much more time (up to 30 mins versus 2 mins). As the number of EVs on highways increases, adequate charging infrastructure needs to be p...

A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network because of its ability to self-deploy and self-reconfigure. However, since the sensor has a limited sensing range, when mobile sensors are initially deployed, sensors located far away from the region of interest may not be able to self-deplo...

Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or t...

While the use of a communication network facilitates the development of cooperative control for networked systems, it comes at a price that the systems become vulnerable to data attacks by an adversary. In this paper, we consider consensus dynamics on networked systems with strongly connected directed graphs in the presence of an additive stealthy...

Communication networks provide a larger flexibility for the control design of interconnected systems by allowing the information exchange between the local controllers of the subsystems which can be used to improve the overall system performance. However, the interconnected systems may become unstable due to permanent communication link failures. T...

Communication networks provide a larger flexibility for control design of large-scale interconnected systems by allowing the information exchange between local controllers of the subsystems and may improve the overall system performance. However, it is not well understood how significant the role of the communication link is in improving the system...

This paper jointly designs the distributed control law and its communication architecture for large-scale interconnected systems. The novelty is to consider both, the robustness guaranty under topology uncertainty and the performance improvement of the overall system. The proposed framework consists of two steps. The first step aims at finding a se...

A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network due to its ability to self-deploy and self-reconfigure. However, since the sensor has a limited sensing range, when mobile sensors are initially deployed, sensors located far away from the region of interest may not be able to self-deploy th...

Communication networks provide a larger flexibility for the control design of large-scale interconnected systems by allowing the information exchange between the local controllers of the subsystems. This paper presents explicit solutions on communication topology design for interconnected systems with certain class of physical interconnection topol...

This paper considers the optimal local leader selection for a leader-first follower minimally persistent formation system. The objective is to maximize the local convergence rate of the followers to the unique equilibrium under small perturbations. Except for the leader and the first follower, every other agent in the system follows exactly two age...

Human interaction partners tend to synchronize their movements during repetitive actions such as walking. Research of inter-human coordination in purely rhythmic action tasks reveals that the observed patterns of interaction are dominated by synchronization effects. Initiated by our finding that human dyads synchronize their arm movements even in a...

A robotic sensor network is advantageous in performing a coverage task compared to the static sensor network due to its ability to self-deploy and self-reconfigure. However, due to the limited sensing range, when mobile sensors are initially deployed, sensors located far away from the area of interest may not be able to participate in the coverage...

Communication networks provide a larger flex-ibility with respect to the control design of large-scale in-terconnected systems by allowing the information exchange between the local controllers of the subsystems. The use of communication networks comes, however, at the price of non-ideal signal tranmission such as time delay which is a source of in...

When mobile sensors are initially deployed, some sensors may be located far away from the region of interest and due to the sensor's limited sensing of range, some sensors may not be able to participate in the coverage task. This paper proposes a new algorithm on the coverage problem for mobile sensor networks which guarantees all sensors to partic...

This paper considers the deployment problem for mobile visual sensor networks equipped with omni-directional communication capability in a non-convex environment. The performance of the visual sensor is assumed to depend not only on the distance but also on the orientation from the sensor to the target. A gradient-based distributed deployment algor...

Communication networks provide a larger flexibility with respect to the control design of large-scale interconnected systems by allowing the information exchange between the local controllers of the subsystems. This paper introduces an approach for the design of the communication topology for the distributed control of large-scale interconnected sy...

In the present work we show the important role of wrist movements for the avoidance of non-target objects (obstacles) in a psychological pick-and-place experiment. The results show that humans can adjust the position of their wrist as well as the angle between their underarm and their hand during a prehension movement relative to the position of a...

In this paper, we investigate coverage control problem for mobile sensor networks. The novelty is to consider an anisotropic sensor model whose performance depends not only on the distance but also on the orientation to a target point. By adapting Lloyd algorithm, a distributed control law is derived. Aside from coverage, we also show that the cont...

In this paper, we investigate coverage control for robotic camera sensor networks. The main objective is to establish a camera sensor network system in practice and to perform an experiment of coverage control. However, the camera sensor is one of the typical anisotropic sensors and we cannot apply most conventional algorithms assuming isotropic se...

Future Distributed Power Grid (DPG) control systems may strongly benefit from the introduction of a communication network enabling cooperation between distributed generators. However, this typically comes at the cost that network induced time delay deteriorates control performance and possibly destabilizes the overall system. In this paper we study...

In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm and assuming a fixed and equal sensor orientation, a distributed cont...

In this paper the coverage control for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation from the sensor to the target. Moreover we consider sensors with limited-range sensing defined by a probabilistic model and...

In this paper a method for coverage control for a convex regionD R2 in a dynamic environment is studied. An information map is introduced in which the information about each point is decaying with respect to time s.t. the robots must revisit them periodically. Also a time- varying density function is used for modeling moving points of interest. The...

Abstract‐ In this paper the coverage control problem for mobile sensor networks is studied. The novelty is to consider an anisotropic sensor model where the performance of the sensor depends not only on the distance but also on the orientation to the target. By adapting the Lloyd algorithm, a distributed control law is derived. Aside from coverage...