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Predictive control in the Era of Networked control and Communication - A Perspective

IFAC-PapersOnLine 2015年第23期48卷 322-331页

作者： Lucia, S. Kögel, M. Zometa, P. Quevedo, D.E. Findeisen, R. Laboratory for Systems Theory and Automatic Control Otto-von-Guericke Universität Magdeburg Magdeburg Germany Department of Electrical Engineering University of Paderborn Paderborn Germany

Advances in communication, information technology, and computation have led to a rapid change of today's world. Actuation, communication, sensing, and control are becoming ubiquitous. While this offers many possibilities - Smart cities, Smart buildings, Smart devices, Smart factories, Smart health monitoring a smarter world - there are also several challenges which need to be tackled. How can one handle the increasing complexity? Can one guarantee safety and performance of such networked control systems subject to erroneous communication, delays, and failures of sensors and actuators? Is it possible to design control systems with plug and play capacity? How can one guarantee privacy of the controlled subsystems while exchanging information? Predictive control is a well suited control approach to tackle some of these challenges, since its allows to directly take constraints, preview information, as well as models of the physical world into *** limit our attention to three areas we believe predictive control methods can have a significant impact: the efficient and easy implementation of predictive control on the omnipresent embedded computation hardware, the control under resource limitations and network effects, and the control on the network level, outlining a contract based control approach which allows a structured, yet flexible hierarchical *** briefly review results from these fields and outline some solutions related to our work, that provide possible solutions to the considered challenges. © 2015, IFAC (International Federation of automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Networked control systems Cyber Physical System Embedded systems Embedded computation Health monitoring Networked controls Predictive control Predictive control methods Resource limitations Sensors and actuators systems of systems

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Nonlinear control of dc/dc power converters with inherent current and power limitation

Nonlinear control of dc/dc power converters with inherent cu...

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Mediterranean Conference on control and Automation

作者： George C. Konstantopoulos Qing-Chang Zhong Department of Automatic Control and Systems Engineering The Univesity of Sheffield Sheffield S1 3JD U.K Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL 60616 USA

ISBN: (纸本)9781467383479

A nonlinear controller with an inherent current-limiting capability is presented in this paper for different types of dc/dc power converters (boost, buck-boost). The proposed controller is based on the idea of applying a dynamic virtual resistance in series with the inductor of the converter, which varies according to a nonlinear dynamical system. It is shown that the proposed approach acts independently from the converter parameters (inductance, capacitance) or the load and has a generic structure that can be used to achieve different regulation scenarios, e.g. voltage, current or power regulation. Based on the nonlinear model of the boost and the buck-boost converter, it is analytically proven that the inductor current remains always bounded below a given maximum value using input-to-state stability theory under a suitable choice of the controller parameters. Hence, the proposed control strategy offers an inherent protection property since the power of the converter is limited below a given value during transients or unrealistic power demands. Simulation results for both types of dc/dc converters are presented to verify the desired controller performance.

关键词： Inductors Voltage control Resistance Nonlinear dynamical systems Load modeling Stability analysis Transient analysis Nonlinear dynamical systems inductors Load modeling Voltage regulation Transient analysis Converters Stability analysis nonlinear control power conversion unit Energy sources Series Resistance controllers boost converters series inductor stability theory

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Attitude synchronization of multiple rigid bodies in SE(3) over proximity networks

Attitude synchronization of multiple rigid bodies in SE(3) o...

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第35届中国控制会议

作者： Juan Deng Zhixin Liu Lin Wang John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS Department of Automation Shanghai Jiao Tong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education Department of Electrical and Computer Engineering and the Institute for Systems Research University of MarylandCollege Park

ISBN: (纸本)9781509009107

This paper investigates the attitude synchronization of a group of moving rigid bodies whose states including positions and rotation matrices evolve in the Lie group SE(3).The commonly used circular neighborhood is adopted,and the neighbor graphs are described by proximity *** order to avoid introducing discussions on the abrupt changes of neighbor graphs,a dwell time is *** distributed sampled-data control law for the angular velocity is *** the assumptions on the initial states,we provide sufficient conditions for the attitude synchronization of multiple rigid body *** with the existing results,our condition depends only on the neighborhood radius,the moving velocity and the dwell time.

关键词： rigid body SE(3) attitude synchronization sampled-data control proximity network

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Global and Asymptotically Efficient Identification of Nonlinear Rational systems via a Two-step Method

Global and Asymptotically Efficient Identification of Nonlin...

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第35届中国控制会议

作者： Biqiang Mu Er-Wei Bai Wei Xing Zheng Key Laboratory of Systems and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences Department of Electrical and Computer Engineering University of Iowa School of Computing Engineering and MathematicsWestern Sydney University

ISBN: (纸本)9781509009107

Identification of nonlinear rational systems defined as the ratio of two nonlinear functions of past inputs and outputs is considered in this paper. Although this problem has a long history, there is still lack of a globally consistent identification algorithm for such identification problem. This paper develops a globally consistent algorithm by the following steps: model transformation, bias analysis, noise variance estimation, and compensation. First, the paper studies the prediction error type estimator(nonlinear least square estimators) and the corresponding solving algorithm(Gauss-Newton algorithms). It is shown that the Gauss-Newton algorithm is locally convergent but actually asymptotically efficient by calculating the Crame′r-Rao lower bound under Gaussian observation noises. This motivates that a global and asymptotically efficient estimator can be constructed by combining the proposed globally consistent estimator with the Gauss-Newton algorithm. So, a two-step method is proposed,which consists of first executing the globally consistent algorithm and then applying the Gauss-Newton algorithm with the consistent estimate serving as the initial value. A simulation example is provided to verify the good performance of the proposed two-step method.

关键词： Nonlinear rational systems nonlinear least squares Gauss-Newton algorithms local convergence corrected least squares global convergence asymptotical efficiency

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A delay-aware hybrid relay selection policy

A delay-aware hybrid relay selection policy

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International Conference on Telecommunications (ICT)

作者： Dimitrios Poulimeneas Themistoklis Charalambous Nikolaos Nomikos Ioannis Krikidis Demosthenes Vouyioukas Mikael Johansson Automatic Control Lab Royal Institute of Technology (KTH) Stockholm Sweden Department of Signals and Systems Chalmers University of Technology Gothenburg Sweden Department of Information and Communication Systems Engineering University of the Aegean Samos Greece Electrical and Computer Engineering Department University of Cyprus Nicosia Cyprus

In this paper, we propose a novel relay selection policy based on the Hybrid Relay Selection (HRS) relay selection protocol that takes into account the state of the buffers and aims at reducing the average packet delays in the network. The proposed protocol, called the Delay-Aware HRS (DA - HRS) protocol is analyzed by means of Markov Chains and expressions for the outage probability, throughput and delay are derived. The distributed implementation of the protocol is also discussed. The performance of our proposed protocol is demonstrated via extensive simulations and comparisons with the classical HRS.

关键词： Relays Delays Protocols Receivers Signal to noise ratio Radio transmitters Telecommunications

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Design of distributed observers with arbitrarily large communication delays

Design of distributed observers with arbitrarily large commu...

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Annual Conference of Industrial Electronics Society

作者： Kexin Liu Jinhu Lü Zongli Lin Academy of Mathematics and Systems Science Key Laboratory of Systems and Control Beijing China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA USA

The design of networked observers has recently received much consideration. This paper is concerned with the design of distributed observers with arbitrarily large communication time delays. A traditional centralized observer assumes access to the full output the plant. In the real world situations, the output is often measured by distributed senors connected through a communication network. We propose the design of a set of distributed observers with time delays in the communication channels. Each observer is regarded as an agent, which obtains local information of the plant and communicates with other observers through an undirected communication network, with arbitrarily large time delays. Conditions are established under which the states of all observers converge exponentially to the plant state. Numerical results are proposed to illustrate our results.

关键词： Observers Delay effects Delays Communication networks Eigenvalues and eigenfunctions Communication channels Network topology

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A Simultaneous Iterative Learning control and Dynamic Modeling Approach for A Class of Nonlinear systems

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IFAC-PapersOnLine 2015年第28期48卷 368-373页

作者： Hou, Zhongsheng Yu, Qiongxia Xu, Jian-Xin Yin, Chenkun Advanced Control Systems Laboratory Beijing Jiaotong University Beijing100044 China Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore

This paper presents a novel simultaneous iterative learning control and dynamic modeling (SILCDM) approach. For a class of unknown and repeatable nonlinear discrete-time systems, a model-free iterative learning control (ILC) method is applied first. Meanwhile, by using the data generated during the repetitive operations, a novel iterative learning parameter estimation algorithm is proposed to calibrate the unknown time-varying parameter in the nonlinear system with known structure simultaneously. After the model parameter is well identified, the accurate dynamic model of the controlled plant is obtained. With this identified model, the model-free ILC method is then switched to a model-based optimal ILC method in order to get much better control performance. The theoretical analysis shows that the proposed pproach guarantees the convergence of both the system state and the parameter identification. The effectiveness of the SILCDM is further demonstrated through simulations. © 2015

关键词： Two term control systems

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Add-on module of Active Disturbance Rejection for set-point tracking of motion control systems

Add-on module of Active Disturbance Rejection for set-point ...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Wenchao Xue Rafal Madonski Zhiqiang Gao Yi Huang Krzysztof Lakomy Key laboratory of Systems and Control Chinese Academy of Sciences Beijing P. R. China Chair of Control and Systems Engineering Poznan University of Technology Poland Department of Electrical and Computer Engineering Cleveland State University Cleveland Ohio U.S.A.

ISBN: (纸本)9781479983988

Active Disturbance Rejection control (ADRC) as a standalone motion solution has been adopted by companies such as Texas Instruments and Danfoss and made available on various proprietary industrial platforms. The idea of ADRC, however, can be integrated with the existing control technologies seamlessly, as shown in this paper. It is shown a modularized ADRC design for set-point tracking of motion control such that better uncertainty rejection can be implemented without any change in the existing proportional-derivative (PD) control with linear observer. We prove that certain integration of the observer's error can serve as an estimation for the “total disturbance” in low frequency range. This enables the estimation and cancellation of the “total disturbance” to be incorporated into the existing control loop. Also, a comparison between the methods with and without such “module” is discussed. The proposed ADRC is implemented and validated with experimental results for a 1-degree of freedom robotic manipulator, where desired set-point tracking performance in position control is achieved under unknown mass variations and sudden external disturbances.

关键词： Observers Motion control Tracking Transient analysis

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Decentralized MMSE attacks in electricity grids

Decentralized MMSE attacks in electricity grids

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IEEE/SP Workshop on Statistical Signal Processing (SSP)

作者： Iñaki Esnaola Samir M. Perlaza H. Vincent Poor Oliver Kosut Department of Electrical Engineering Princeton University Princeton NJ USA Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK Institut National de Recherche en Informatique et Automatique (INRIA) Lyon France School of Electrical Computer and Energy Engineering Arizona State University Tempe AZ USA

Decentralized data-injection attack construction with minimum mean-square-error state estimation is studied in a game-theoretic setting. Within this framework, the interaction between the network operator and the set of attackers, as well as the interactions among the attackers, are modeled by a game in normal form. A novel utility function that captures the trade-off between the maximum distortion that an attack can introduce and the probability of the attack being detected by the network operator is proposed. Under the assumption that the state variables can be modeled as a multivariate Gaussian random process, it is shown that the resulting game is a potential game. The cardinality of the corresponding set of Nash Equilibria (NEs) of the game is analyzed. It is shown that attackers can agree on a data-injection vector construction that achieves the best trade-off between distortion and detection probability by sharing only a limited number of bits offline. Interestingly, this vector construction is also shown to be an NE of the resulting game.

关键词： Games Distortion State estimation Conferences Covariance matrices

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Vehicle Logo Recognition by Spatial-SIFT Combined with Logistic Regression

Vehicle Logo Recognition by Spatial-SIFT Combined with Logis...

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International Conference on Information Fusion

作者： Ruilong Chen Matthew Hawes Lyudmila Mihaylova Jingjing Xiao Wei Liu Department of Automatic Control and Systems Engineering University of Sheffield S1 3JD UK School of Electronics Electrical and Computer Engineering University of Birmingham B15 2TT UK Department of Electronic and Electrical Engineering University of Sheffield S1 3JD UK

ISBN: (纸本)9781509020126

An efficient recognition framework requires both good feature representation and effective classification methods. This paper proposes such a framework based on a spatial Scale Invariant Feature Transform (SIFT) combined with a logistic regression classifier. The performance of the proposed framework is compared to that of state-of-the-art methods based on the Histogram of Orientation Gradients, SIFT features, Support Vector Machine and K-Nearest Neighbours classifiers. By testing with the largest vehicle logo data-set, it is shown that the proposed framework can achieve a classification accuracy of 99.93%, the best among all studied methods. Moreover, the proposed framework shows robustness when noise is added in both training and testing images.

关键词： Histograms Vehicles Logistics Dictionaries Support vector machines Robustness Training histograms vehicle Dictionaries as Topic Support Vector Network Logistics Functional training Logistic Regression Robustness Frameworks Power grids Training Classification Methods

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