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Model predictive control of switching continuous-time systems with stochastic jumps: Application to an electric current source

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IET CONTROL THEORY AND APPLICATIONS 2022年第4期16卷 454-463页

作者： Vargas, Alessandro N. Ishihara, Joao Y. Caruntu, Constantin F. Zhang, Lixian Nanha Djanan, Armand A. Univ Tecnol Fed Parana Procopio PR Brazil Univ Brasilia FT UnB Brasilia DF Brazil Gheorghe Asachi Tech Univ Iasi Dept Automat Control & Appl Informat Iasi Romania Harbin Inst Technol Res Inst Intelligent Control & Syst Harbin Peoples R China Univ Yaounde I Fac Sci Lab Modelling & Simulat Engn Biomimet & Prototype POB 812 Yaounde Cameroon

This paper proposes an extension of the model predictive control framework for switching continuous-time linear systems. The switching times follow a stochastic process with limited statistical information. At each switching time, the controller knows the system state, but it is blind with respect to the switching continuous-time subsystems. In this setting, the paper's main contribution is to show how to compute the model predictive control gain. The paper also illustrates the implications of our approach for applications. The approach was used in practice to control an electric current source that supplied a switching load. The experimental data support the usefulness of our approach.

关键词： electric current source stochastic process statistical analysis linear systems stochastic processes statistical information switching continuous-time subsystems continuous time systems electric current control predictive control model predictive control framework continuous-time linear systems

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On policy iteration-based discounted optimal control

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INTERNATIONAL JOURNAL OF ROBUST AND NONlinear CONTROL 2024年第7期34卷 4926-4942页

作者： Dong, Botao Huang, Longyang Ma, Xiwen Zhang, Weidong Shanghai Jiao Tong Univ Dept Automat Shanghai Peoples R China Hainan Univ Sch Informat & Commun Engn Haikou Hainan Peoples R China

This article investigates the policy iteration (PI) method for the discounted optimal control (DOC) problem of continuous-time linear systems. We show the properties and convergence of the PI method. The theory analysis shows that the convergence of PI can be ensured without requiring the initial admissible control gain. The convergence rate of the PI method is provided. An iteration-termination criterion is established for detecting the stability of the closed-loop system under the control gain obtained by executing PI. Two kinds of data-driven implementations are constructed without using prior information of the system dynamics. A simulation example is presented to validated the properties of the PI method.

关键词： continuous-time linear systems data-driven control discounted optimal control policy iteration

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Model-Free Solution for Inverse linear-Quadratic Nonzero-Sum Differential Games

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IEEE CONTROL systems LETTERS 2024年 8卷 2445-2450页

作者： Martirosyan, Emin Cao, Ming Univ Groningen Fac Sci & Engn ENTEG Groningen Netherlands

This letter addresses the inverse problem for linear-Quadratic (LQ) nonzero-sum N-player differential games, where the goal is to learn cost function parameters such that the given tuple of feedback laws, which is known to stabilize a linear system, is a Nash equilibrium (NE) for the synthesized game. We show a model-free algorithm that can accomplish this task using the given feedback laws and the system matrices. The algorithm makes extensive use of gradient descent optimization that allow to find the solution to the inverse problem without solving the forward problem. To further illustrate possible solution characterization, we show how to generate an infinite number of equivalent games without repeatedly running the complete algorithm. Simulation results demonstrate the effectiveness of the proposed algorithms.

关键词： Games Cost function Inverse problems Differential games Symmetric matrices Nash equilibrium linear systems Heuristic algorithms System dynamics Matrix converters Inverse differential game inverse optimal control continuous-time linear systems

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A Novel Parallel Control Method for continuous-time linear Output Regulation With Disturbances

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IEEE TRANSACTIONS ON CYBERNETICS 2023年第6期53卷 3760-3770页

作者： Wei, Qinglai Li, Hongyang Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Macau Univ Sci & Technol Inst Syst Engn Taipa Macao Peoples R China Qingdao Acad Intelligent Ind Qingdao 266109 Peoples R China

In this article, a novel linear parallel control method is developed for output regulation problems with disturbances. The traditional feedback regulators are passive regulation methods. In order to solve this problem, the parallel controllers are presented, where the time variation of the control is constructed instead of the control value itself, to stabilize the output of the system. The main contributions of the developed method include two aspects: 1) a novel parallel regulator structure is presented, which can provide greater flexibility comparing with traditional methods and 2) the necessary and sufficient conditions for the existence of parallel regulators are analyzed. First, the structure of the linear parallel regulators is provided. Next, considering the situations that the full system information is obtained and the information of error is obtained, respectively, the properties of the parallel regulators are analyzed, and the regulator designs for the two situations are provided. Finally, numerical examples are provided to verify the correctness of the present method.

关键词： Regulators Regulation Control systems Stability analysis Asymptotic stability Eigenvalues and eigenfunctions Control theory continuous-time linear systems output regulation parallel control theory parallel regulators parallel systems

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Adaptive output-feedback quadratic tracking control of continuous-time systems via value iteration with its application

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IET CONTROL THEORY AND APPLICATIONS 2020年第20期14卷 3621-3631页

作者： Peng, Yunjian Meng, Qingqing Sun, Weijie South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Guangdong Peoples R China

This study is dedicated to develop an adaptive output-feedback (OPFB) tracking control scheme for continuous-time linear systems to achieve the infinite-horizon linear quadratic tracking (LQT) solution. The existence conditions of the OPFB control for LQT solution are proposed and an upper bound is found for the discount factor to assure the stability of the OPFB solution. To develop an online learning solution without knowing the system drift dynamics, a novel value iteration (VI) algorithm is presented based on the integral reinforcement learning technique which requires measured augmented system states. Moreover, a convergence analysis is proposed for the VI algorithm. Compared to the policy iteration method, the VI algorithm relaxes the initial stabilising control policy requirement. Specifically, in order to further obviate the knowledge of system states, a neural network-based adaptive observer is used during learning and it is no longer needed after the online learning algorithm converges. Effectiveness of the proposed learning scheme is illustrated through an interesting application into a single-phase grid-connected PV power inverter.

关键词： optimal control adaptive control iterative methods linear quadratic control discrete time systems learning (artificial intelligence) feedback linear systems dynamic programming continuous time systems neurocontrollers nonlinear control systems photovoltaic power systems control system synthesis closed loop systems stability observers continuous-time linear systems infinite-horizon linear quadratic tracking solution existence conditions OPFB control LQT solution OPFB solution online learning solution system drift dynamics integral reinforcement learning technique augmented system states VI algorithm policy iteration method initial stabilising control policy requirement neural network-based adaptive observer learning scheme adaptive output-feedback quadratic tracking control continuous-time systems value iteration adaptive output-feedback tracking control scheme

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Data-Driven Optimal Control for continuous-time linear Nonzero-Sum Games 18

Data-Driven Optimal Control for Continuous-Time Linear Nonze...

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18th International Conference on Control Automation Robotics and Vision

作者： Li, Hongyang Wei, Qinglai Song, Ruizhuo Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence Beijing 100190 Peoples R China Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China

ISBN: (纸本)9798331518509;9798331518493

In this paper, the data-driven optimal control problem is studied for continuous-time linear nonzero-sum games. Two kinds of reinforcement learning algorithms, i.e., reinforcement learning algorithm with data-storage based least-square method and reinforcement learning algorithm with filter based least-square method, are presented to obtain the Nash equilibrium solution. The properties of the presented reinforcement learning algorithms are analyzed. Simulation results show the efficiency of the presented reinforcement learning algorithms.

关键词： Optimal control game theory continuous-time linear systems reinforcement learning

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Supervisory Nonlinear State Observers for Adversarial Sparse Attacks

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IEEE TRANSACTIONS ON CYBERNETICS 2022年第3期52卷 1575-1587页

作者： An, Liwei Yang, Guang-Hong Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China

This article investigates the problem of secure state estimation for continuous-time linear systems in the presence of sparse sensor attacks. Compared with the existing results, the attacked sensor set can be changed by adversaries against secure estimation. To address the more erratic attacks, a novel supervisory state observer is proposed, which employs a bank of candidate nonlinear subobservers and a switching logic administrated by a monitoring function to select the active subobserver at every instant of time. Based on the stability analysis of switched systems, it is proven that the supervisory observer asymptotically converges to a neighborhood of the true system state in the presence of the sensor attacks and bounded disturbances. A simulation example is given to substantiate the theoretical results.

关键词： Observers Switches linear systems Symmetric matrices Monitoring continuous-time linear systems linear matrix inequalities (LMIs) location-varying sparse (LVS) attacks supervisory nonlinear observers

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A New Optimal Tracking Controller of linear Strongly Coupled systems and Its Applications

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IEEE TRANSACTIONS ON CIRCUITS AND systems II-EXPRESS BRIEFS 2022年第3期69卷 1387-1391页

作者： Fu, Yue Chen, Wei Fu, Jun Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Peoples R China

In this brief, for a class of continuous-time multivariable linear systems with strong coupling property, a new optimal tracking controller is proposed, which can simultaneously decouple the closed-loop system in its dynamic, and provide optimal performance. Firstly, a new quadratic performance index considering decoupling design is introduced, and then the optimal tracking controller is derived by minimizing the new index according to the minimum principle. Finally, the weighting matrices are provided, by using which decoupling and tracking can both be realized. Experiments on a Coupled-Tank are conducted, whose results show the superiority of the proposed method comparing with the conventional linear quadratic tracking (LQT) controller.

关键词： Couplings Matrices Closed loop systems Adaptive systems Performance analysis Transfer functions Tracking loops Optimal tracking control continuous-time linear systems multivariable systems

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On a new generalised LMI condition and randomised algorithm for robust stabilisation via static-output-feedback

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INTERNATIONAL JOURNAL OF systems SCIENCE 2020年第1期51卷 61-71页

作者： Peretz, Y. Merzbach, O. Moyall, S. Jerusalem Coll Technol Lev Acad Ctr Comp Sci Dept POB 16031 Jerusalem Israel

For a given system with time-invariant affine uncertainties, ranging in a unit hypercube or, equivalently, in a hyper-rectangle, new LMI sufficient conditions for the verification of a given simultaneous static-output-feedback for hypercube nodes, being robust static-output-feedback for the whole system, are proved. The conditions generalise previous results in the sense that we do not assume that the state-to-measurement or the input-to-state matrix is constant. Based on the LMI conditions, a randomised algorithm is suggested. The effectiveness of the method is reinforced through experiments on real-life systems.

关键词： continuous-time linear systems State-space representation Feedback stability Robust stabilisabiliy Simultaneous stabilisation Static-output-feedbacks NP-hard control problems Randomised algorithms

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continuous-time linear Parallel Control

Continuous-Time Linear Parallel Control

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Chinese Automation Congress (CAC)

作者： Wei, Qinglai Li, Hongyang Wang, Fei-Yue Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing Peoples R China

ISBN: (纸本)9781728176871

This paper presents a continuous-time linear parallel control by modeling the derivative of system control with respect to time. The framework and properties of continuous-time linear parallel control are first presented. Then, considering the controllability, the pole assignment theorems will be analyzed. Finally, two examples show the correctness of continuous-time linear parallel control.

关键词： Parallel controller parallel systems parallel systems theory continuous-time linear systems

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