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检索条件"任意字段=5th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2015"

共 132 条记录，以下是11-20 订阅

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A distributed explicit reference governor for constrained control of multiple UAVs 5

A distributed explicit reference governor for constrained co...

引用

5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Nicotra, Marco M. Bartulovic, Mihovil Garone, Emanuele Sinopoli, Bruno Brussels Belgium PittsburgPA United States

this paper develops a distributed strategy to control multiple UAVs in a confined environment. By pre-stabilizing each agent and using the applied reference as an auxiliary state variable, it is shown that the transient dynamics can be limited to a suitable invariant level-set. Coordination between agents is then addressed using existing tools for first order multi-agent system. the resulting control law is simple, computationally inexpensive and scalable. Moreover, it can easily take into account saturations on the available thrust as well as constraints on the agents' velocity. the effectiveness of the proposed algorithm is presented with several simulation results showing its robustness with respect to external disturbances. © 2015, IF AC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Governors

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distributed feasibility algorithms with application to power flow problems 5

Distributed feasibility algorithms with application to power...

引用

5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Foo, Ming Q. Roozbehani, Mardavij CambridgeMA United States

Given a network of interconnected nodes, each with its own value (such as a measurement, position or vote) and with constraints between each node and its neighbors, a feasibility algorithm assigns a value to each node such that constraints between neighboring nodes are satisfied simultaneously. this paper presents two novel feasibility algorithms that are based on the Method of Alternating Projections (MAP) and the Projected Consensus algorithm. Our algorithms solve convex feasibility problems by distributing computation among nodes and require only local information exchanges. A well-motivated application discussed throughout the paper is the power flow problem, which is vital to the operation of electric power grids. Although the power flow problem is a non-convex feasibility problem, our algorithms are demonstrated to be effective heuristics using various IEEE test beds. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Constraint satisfaction problems

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distributed optimization for multi-task learning via nuclear-norm approximation 5

Distributed optimization for multi-task learning via nuclear...

引用

5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Mateos-Núñez, David Cortés, Jorge Department of Mechanical and Aerospace Engineering University of California San Diego United States

We exploit a variational characterization of the nuclear norm to extend the framework of distributed convex optimization to machine learning problems that focus on the sparsity of the aggregate solution. We propose two distributed dynamics that can be used for multi-task feature learning and recommender systems in scenarios with more tasks or users than features. Our first dynamics tackles a convex minimization on local decision variables subject to agreement on a set of local auxiliary matrices. Our second dynamics employs a saddle-point reformulation through Fenchel conjugation of quadratic forms, avoiding the computation of the inverse of the local matrices. We show the correctness of both coordination algorithms using a general analytical framework developed in our previous work that combines distributed optimization and subgradient methods for saddle-point problems. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Convex optimization

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Remote-state estimation with packet drop

Remote-state estimation with packet drop

引用

6th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Chakravorty, Jhelum Mahajan, Aditya McGill Univ Elect & Comp Engn Montreal PQ Canada

In the remote estimation system, a transmitter observes a discrete-time symmetric countable state Markov process and decides to either transmit the current state of the Markov process or not transmit. the transmitted packet gets dropped in the communication channel with a probability e. An estimator estimates the Markov process based on the received observations. When each transmission is costly, we characterize the minimum achievable cost of communication plus estimation error. When there is a constraint on the average number of transmissions, we characterize the minimum achievable estimation error. Transmission and estimation strategies that achieve these fundamental limits are also identified. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Remote-state estimation decentralized control distortion-transmission function

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Stability Analysis and Synthesis for Nonlinear networked control systems

Stability Analysis and Synthesis for Nonlinear Networked Con...

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6th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： Yoneyama, Jun Hoshino, Kenta Aoyama Gakuin Univ Sagamihara Kanagawa 2525258 Japan

the paper is concerned with stabilization of nonlinear networked systems which are described by the Takagi-Sugeno fuzzy systems. Based on Lyapunov-Krasovskii stability theorem, stability analysis and control design problems are considered. Novel Lyapunov-Krasovskii function and corresponding generalized controller allow to obtain less conservative conditions for the networked control system to be asymptotically stable. Furthermore, free matrix parameter method is introduced. this method is known to reduce the conservatism in control design conditions. With such novel controller and novel Lyapunov-Krasovskii function, a new controller design method is proposed. Resulting conditions for a controller to stabilize the networked control system are less conservative and are applicable for a wider class of nonlinear systems. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fuzzy systems Intelligent control Networks Nonlinear control systems Time-Delay

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Coordinated frequency control through MTDC transmission systems 5

Coordinated frequency control through MTDC transmission syst...

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5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Andreasson, Martin Wiget, Roger Dimarogonas, Dimos V. Johansson, Karl H. Andersson, Göran ACCESS Linnaeus Centre KTH Royal Inst. of Technology Sweden Power Systems Laboratory ETH Zurich Switzerland

In this paper we propose a distributed dynamic controller for sharing frequency control reserves of asynchronous AC systems connected through a multi-terminal HVDC (MTDC) grid. We derive sufficient stability conditions, which guarantee that the frequencies of the AC systems converge to the nominal frequency. Simultaneously, the global quadratic cost of power generation is minimized, resulting in an optimal distribution of generation control reserves. the proposed controller also regulates the voltages of the MTDC grid, asymptotically minimizing a quadratic cost function of the deviations from the nominal voltages. the proposed controller is tested on a high-order dynamic model of a power system consisting of asynchronous AC grids, modelled as IEEE 14 bus networks, connected through a six-terminal HVDC grid. the performance of the controller is successfully evaluated through simulation. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： controllers

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Optimal estimation Algorithm Design under Event-based Sensor Data Scheduling

Optimal Estimation Algorithm Design under Event-based Sensor...

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6th ifac workshop on distributed estimation and control in networked systems (necsys)

作者： He, Lidong Qi, Yifei Chen, Jiming Zhejiang Univ Coll Control Sci & Engn State Key Lab Ind Control Technol Hangzhou Zhejiang Peoples R China

this paper investigates a remote state estimation problem over a communication channel, which is of theoretical and practical significance in the study of cyber-physical systems (CPS). In consideration of both bandwidth limitation and estimation quality, an event-based schedule is proposed to decide whether to transmit the current measurement to the remote estimator or not. To overcome the difficulties induced by the bilaterally hidden-truncation process from event-based scheme, we introduce the generalized closed skew normal distribution to accurately portray the state distribution. Furthermore, an exact MMSE estimation algorithm is designed, which does not rely on the Gaussian approximation assumption. Numerical examples are provided to show the effectiveness of the proposed algorithm. (C) 2016, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： CPS remote state estimation event-based scheduling MMSE estimation

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Decentralized channel access for wireless control systems 5

Decentralized channel access for wireless control systems

引用

5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Gatsis, Konstantinos Ribeiro, Alejandro Pappas, George J. Department of Electrical and Systems Engineering University of Pennsylvania 200 South 33rd Street PhiladelphiaPA19104 United States

We consider a decentralized channel access mechanism for multiple sensors communicating over a shared wireless medium with corresponding actuators. Each sensor independently and iteratively adjusts the rate at which it accesses the channel, in response to packet collisions arising from simultaneous transmissions. We provide theoretical conditions under which the decentralized mechanism converges to an operating point where desired closed loop performance of all control loops is met. control performance is abstracted as desired decrease rates of given Lyapunov functions for each loop, which translates to necessary packet success rates on each link. Numerical simulations of the proposed mechanism are presented. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Lyapunov functions

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Stability analysis of spatially invariant interconnected systems with networked communication 5

Stability analysis of spatially invariant interconnected sys...

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5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Heijmans, S.H.J. Borgers, D.P. Heemels, W.P.M.H. Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands

In this paper tractable stability conditions are presented for a system consisting of an infinite number of spatially invariant subsystems interconnected through communication networks. the networks transmit packets asynchronously and independently of each other and are equipped with scheduling protocols that determine which actuator, sensor or controller node is allowed access to the network. the overall system is modeled as an interconnection of an infinite number of spatially invariant hybrid subsystems. Based on this framework, conditions leading to a maximally allowable transmission interval (MATI) for all of the individual communication networks is derived such that uniform global asymptotic stability (UGAS) of the overall system is guaranteed. these conditions only involve the local dynamics of a single hybrid subsystem in the interconnection. In the case of linear subsystems the conditions can be stated in terms of linear matrix inequalities thereby making them numerically tractable. An illustrative example of a platoon of vehicles is used to demonstrate the newly obtained results and their applications. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： networked control systems

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control of stochastic evolutionary games on networks 5

Control of stochastic evolutionary games on networks

引用

5th ifac workshop on distributed estimation and control in networked systems, necsys 2015

作者： Riehl, James R. Cao, Ming Faculty of Mathematics and Natural Sciences ENTEG University of Groningen Netherlands

We investigate the control of stochastic evolutionary games on networks, in which each edge represents a two-player repeating game between neighboring agents. the games occur simultaneously at each time step, after which the agents can update their strategies based on local payoff and strategy information, while a subset of agents can be assigned strategies and thus serve as control inputs. We seek here the smallest set of control agents that will guarantee convergence of the network to a desired strategy state. After deriving an exact solution that is too computationally complex to be practical on large networks, we present a hierarchical approximation algorithm, which we show computes the optimal results for special cases of complete and ring networks, while simulations show that it yields near-optimal results on trees and arbitrary networks in a wide-range of cases, performing best on coordination games. © 2015, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Stochastic systems

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