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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Trodden, Paul Loma-Marconi, Paulo Esnaola, Inaki Univ Sheffield Dept Automat Control & Syst Engn Sheffield S1 3JD England

ISBN: (纸本)9781713872344

This paper considers a linear quadratic Gaussian (LQG) control problem with constraints on system inputs and random packet losses occurring on the communication channel between plant and controller. It is well known that, in the absence of constraints, the Separation Principle between estimator and controller holds when the channel employs a TCP-like protocol but not so under a UDP-like protocol. This paper gives a counterexample that shows that, under a model predictive control (MPC) scheme that handles the constraints, the Separation Principle does not hold even in the TCP-like case. Theoretical analysis characterizes and reveals a trade-off between estimation errors in the estimator and prediction errors in the controller. Counterintuitively, the poorer on-average performance of the estimator in the UDP case may be compensated by smaller prediction errors in the controller.

关键词： control and estimation with data loss Predictive control Kalman filtering Stochastic optimal control problems

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Average Consensus with Asynchronous Updates and Unreliable Communication

Average Consensus with Asynchronous Updates and Unreliable C...

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20th World Congress of the International-Federation-of-Automatic-control (IFAC)

作者： Bof, Nicoletta Carli, Ruggero Schenato, Luca Univ Padua Dept Informat Engn Via Gradenigo 6-A I-35131 Padua Italy

In this work we introduce an algorithm for distributed average consensus which is able to deal with asynchronous and unreliable communication systems. It is inspired by two algorithms for average consensus already present in the literature, one which deals with asynchronous but reliable communication and the other which deals with unreliable but synchronous communication. We show that the proposed algorithm is exponentially convergent under mild assumptions regarding the nodes update frequency and the link failures. The theoretical results are complemented with numerical simulations. (C) 2017, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi-agent systems Distributed control and estimation control and estimation with data loss Asynchronous algorithms Average consensus

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Towards the Coarsest Quantized controller under Denial-of-Service Attacks 21st

Towards the Coarsest Quantized Controller under Denial-of-Se...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： van Dinther, Dorus Feng, Shuai Ishii, Hideaki Heemels, W. P. M. H. (Maurice) Eindhoven Univ Technol Dept Mech Engn Control Syst Technol Grp NL-5600 MB Eindhoven Netherlands Tokyo Inst Technol Dept Comp Sci Yokohama Kanagawa 2268502 Japan

In this paper, we consider networked control systems under Denial-of-Service (DoS) attacks. The control objective is to synthesize a quantized controller in which the quantizer is as coarse as possible for a networked control system subject to DoS attacks, while still guaranteeing (quadratic) stability. Our main result will explicitly show the trade-offs between system robustness against DoS and quantizer coarseness. A simulation example will demonstrate the strengths of the new method. Copyright (C) 2020 The Authors.

关键词： Denial-of-Service attacks secure networked control systems control and estimation with data loss control under communication constraints

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Denial of Service Attacks on control Systems with Packet loss 21st

Denial of Service Attacks on Control Systems with Packet Los...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Casbolt, William Esnaola, Inaki Jones, Bryn Univ Sheffield Dept Automat Control & Syst Engn Sheffield S1 3JD S Yorkshire England Princeton Univ Dept Elect Engn Princeton NJ 08544 USA

The performance of control systems with packet loss as a result of an attack over the actuation communication channel is analysed. The operator is assumed to monitor the state of the channel by measuring the average number of packet losses and an attack detection criteria is established based on the statistic. The performance of the attacker is measured in terms of the increase of the linear quadratic cost function of the operator subject to a given detection constraint. Within that setting, the optimal denial of service (DoS) attack strategy is formulated for UDP-like and TCP-like communication protocols. For both communication protocols, DoS attack constructions that are independent and identically distributed (IID) are compared to those that are non-stationary. The main contributions of this paper are (i) explicit characterisation of the expected cost increase of the optimal attack constructions and the associated packet loss parameter for the IID case, (ii) proof, by example, that non-stationary random attacks outperform IID attacks in the presence of detection constraints. Copyright (C) 2020 The Authors.

关键词： Secure networked control systems control and estimation with data loss control under communication constraints

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1 kHz Remote control of a Balancing Robot with Wi-Fi-in-the-Loop 21st

1 kHz Remote Control of a Balancing Robot with Wi-Fi-in-the-...

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21st IFAC World Congress on Automatic control - Meeting Societal Challenges

作者： Branz, Francesco Antonello, Riccardo Pezzutto, Matthias Tramarin, Federico Schenato, Luca Univ Padua Dept Informat Engn Padua Italy Univ Padua Dept Management & Engn Vicenza Italy

Countless industrial applications can potentially benefit from the implementation of wireless control systems, leading to a widespread research effort to investigate new solutions in the field. Nevertheless, currently available wireless communication standards for industrial automation are not able to achieve high control frequencies. In particular, time-critical applications (e.g. industrial robotics and manipulation) require high sampling frequencies to be properly implemented. The higher throughput provided by IEEE 802.11 (Wi-Fi) can theoretically tame critical applications, although reliability is a key issue. In this work Wi-Fi is adopted to increase the achievable control rates up to 1 kHz, while reliability is guaranteed by mitigating communication flaws through model-based estimation techniques. The core of the proposed approach relies on a modified Kalman filter that exploits a buffer of incoming measures to account for delayed data packets. The proposed solution is validated through a hardware-in-the-loop experiment that features actual Wi-Fi hardware and a commercial embedded PC board. The obtained results give a preliminary, yet valuable, validation of the proposed approach testing the solution on relevant hardware. Copyright (C) 2020 The Authors.

关键词： control over networks control under communication constraints Networked embedded control systems control and estimation with data loss Hardware-in-the-loop simulation

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Stability and the Separation Principle in Output-Feedback Stochastic MPC with Random Packet losses

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IFAC-PapersOnLine 2023年第2期56卷 3818-3823页

作者： Paul Trodden Paulo Loma-Marconi Iñaki Esnaola Department of Automatic Control & Systems Engineering University of Sheffield Sheffield S1 3JD UK

关键词： control and estimation with data loss Predictive control Kalman filtering Stochastic optimal control problems

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Network estimation and Packet Delivery Prediction for control over Wireless Mesh Networks

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IFAC Proceedings Volumes 2011年第1期44卷 6573-6579页

作者： Phoebus Chen Chithrupa Ramesh Karl H. Johansson ACCESS Linnaeus Center KTH Royal Institute of Technology SE-100 44 Stockholm Sweden

Abstract Much of the current theory of networked control systems uses simple point-to-point communication models as an abstraction of the underlying network. As a result, the controller has very limited information on the network conditions and performs suboptimally. This work models the underlying wireless multihop mesh network as a graph of links with transmission success probabilities, and uses a recursive Bayesian estimator to provide packet delivery predictions to the controller. The predictions are a joint probability distribution on future packet delivery sequences, and thus capture correlations between successive packet deliveries. We look at finite horizon LQG control over a lossy actuation channel and a perfect sensing channel, both without delay, to study how the controller can compensate for predicted network outages.

关键词： control and estimation with data loss Networked embedded control systems Stochastic control

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