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Structured coprime factorizations description of linear and time-invariant networks

Structured coprime factorizations description of linear and ...

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52nd IEEE Conference on Decision and control, CDC 2013

作者： SabǍu, Şerban OarǍ, Cristian Warnick, Sean Jadbabaie, Ali Electrical and Computer Engineering Dept. Stevens Institute of Technology United States Faculty of Automatic Control Dept. University Politehnica Bucharest Romania Faculty of Computer Science Department Information and Decision Algorithms Laboratories Brigham Young University United States Faculty of Electrical and Systems Engineering Dept. University of Pennsylvannia United States

ISBN: (纸本)9781467357173

In this paper we study state-space realizations of Linear and Time-Invariant (LTI) systems. Motivated by biochemical reaction networks, Gonçalves and Warnick have recently introduced the notion of a Dynamical Structure Functions (DSF), a particular factorization of the system's transfer function matrix that elucidates the interconnection structure in dependencies between manifest variables. We build onto this work by showing an intrinsic connection between a DSF and certain sparse left coprime factorizations. By establishing this link, we provide an interesting systems theoretic interpretation of sparsity patterns of coprime factors. In particular we show how the sparsity of these coprime factors allows for a given LTI system to be implemented as a network of LTI sub-systems. We examine possible applications in distributed control such as the design of a LTI controller that can be implemented over a network with a pre-specified topology. ©2013 IEEE.

关键词： Factorization

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Code Generation for Embedded Second-Order Cone Programming

Code Generation for Embedded Second-Order Cone Programming

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European control Conference

作者： Eric Chu Neal Parikh Alexander Domahidi Stephen Boyd Electrical Engineering Department at Stanford University Computer Science Department at Stanford University Automatic Control Laboratory at ETH Zurich

ISBN: (纸本)9781479901890

This paper describes a framework for generating easily verifiable code to solve convex optimization problems in embedded applications by transforming them into equivalent second-order cone programs. In embedded applications, it is critical to be able to verify code correctness, but it is also desirable to be able to rapidly prototype and deploy high-performance solvers for different problems. To balance these two requirements, we propose a code generation system that takes high-level descriptions of convex optimization problems and generates code that maps the parameters in the original problem to data in an equivalent second-order cone program, which is then solved by a single, external solver that can be verified once and for all. A novel aspect is that we restrict the parameters in the original problem to only appear in affine functions, which lets us map the parameters to problem data without performing any floating point operations. As a result, the generated code is lightweight, fast, and trivial to verify. The approach thus marries the benefits of high-level parser/solvers with custom, high-performance, high-reliability solvers for embedded applications.

关键词： embedded application original problem Code generation Solvers Codes sequential stochastic programming Cone Trivial Convex function

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Further Results on the Linear Constrained Regulation Problem

Further Results on the Linear Constrained Regulation Problem

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Mediterranean Conference on control & Automation

作者： George Bitsoris Sorin Olaru Department of Electrical and Computer Engineering Univerity of Patras SUPELEC Systems Sciences (ES3) Automatic Control Department and DISCO Team

ISBN: (纸本)9781479909964

The problem of constrained regulation of linear systems around an equilibrium situated in the interior of a domain of attraction has been extensively investigated. In many engineering problems however, like obstacle avoidance problems, the regulation around an equilibrium situated on the boundary of the domain of attraction is necessary. For this kind of problems, the classical methods cannot be applied and design control methods are missing. Using invariant set techniques, the present paper proposes design methods for guaranteeing convergence to an equilibrium situated on the boundary of the feasible region, all by respecting the state constraints. A collision avoidance numerical example is presented for illustrating the theoretical results of the paper.

关键词： region of attraction Collision avoidance Feasible region boundary layer Regulation (biology) Standing Orders domain boundaries Linear system design control interior Attraction

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Global output feedback stabilization for a class of nonlinear planar systems with output-dependent growth rates

Global output feedback stabilization for a class of nonlinea...

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3rd IFAC Conference on Intelligent control and Automation Science, ICONS 2013

作者： Wang, Xiangyu Qian, Chunjiang Li, Shihua School of Automation Southeast University Nanjing 210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX 78249 United States

ISBN: (纸本)9783902823458

In this paper, we consider the global output feedback stabilization problem for a class of nonlinear planar systems under a more general growth condition. The nonlinearities in such a system are bounded by both lower-order and higher-order terms with an output-dependent growth rate. This problem is solved by integrating the feedback domination technique and a novel dual observer approach, where two individual observers are constructed in parallel with one estimating the linear part of the unmeasurable state and the other estimating the higher-order part. Moreover, the presented observers and the output feedback controller all have nonlinear gains. Simulations illustrate the effectiveness of the proposed stabilization scheme. Copyright © 2013 IFAC.

关键词： Growth rate

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Capacity improvement through buffer-aided successive opportunistic relaying

Capacity improvement through buffer-aided successive opportu...

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International Conference on Wireless Communication, Vehicular Technology, Information Theory and Aerospace and Electronic systems Technology (Wireless VITAE)

作者： N. Nomikos D. Vouyioukas T. Charalambous I. Krikidis D. N. Skoutas M. Johansson Department of Information and Communication Systems Engineering University of the Aegean Greece Automatic Control Laboratory Electrical Engineering Department and ACCESS LinnaeusCenter Royal Institute of Technology Stockholm Sweden Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

In this work, we propose a buffer-aided successive opportunistic relaying scheme that aims to improve the average capacity of the network when inter-relay interference arises between relays that are selected for transmission and reception. In order to exploit the benefits of buffering at the relays, we propose a relay-pair selection policy that decouples the receiving relay at the previous time slot from being the transmitting relay at the next slot. Furthermore, we impose an interference cancellation threshold allowing the relay that is selected for reception, to decode and subtract the inter-relay interference. The proposed relaying scheme selects the relaying pair that maximizes the average capacity of the relay network. The performance of the proposed scheme is evaluated via simulation and comparisons with other state-of-the-art half and full-duplex relay selection schemes, in terms of outage probability, average capacity and average delay. The results reveal the need for a tradeoff between improving the outage on the cost of reduced capacity and increased delay, and vice versa. Finally, conclusions are drawn and future directions are discussed, including the need for a hybrid scheme incorporating both half and full-duplex characteristics.

关键词： Relays Artificial neural networks Signal to noise ratio

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Adaptively Constrained Stochastic Model Predictive control for Closed-Loop Constraint Satisfaction

Adaptively Constrained Stochastic Model Predictive Control f...

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American control Conference

作者： Frauke Oldewurtel David Sturzenegger Peyman Mohajerin Esfahani Goran Andersson Manfred Morari John Lygeros Power Systems Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology in Zurich (ETHZ) Switzerland Automatic Control Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology in Zurich (ETHZ) Switzerland

ISBN: (纸本)9781479901777

Stochastic Model Predictive control (SMPC) for discrete-time linear systems subject to additive disturbances with chance constraints on the states and hard constraints on the inputs is considered. Current chance constrained MPC methods--based on analytic reformulations or on sampling approaches--tend to be conservative partly because they fail to exploit the predefined violation level in closed-loop. For many practical applications, this conservatism can lead to a loss in performance. We propose an adaptive SMPC scheme that starts with a standard conservative chance constrained formulation and then on-line adapts the formulation of constraints based on the experienced violation frequency. Using martingale theory we establish guarantees of convergence to the desired level of constraint violation in closed-loop for a special class of linear systems. Comments are given on how to extend this to a broader class of (non-)linear systems. The developed methodology is demonstrated with an illustrative example.

关键词： Stochastic model predictive control Chance constraints Adaptive control Closed-loop violation

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Cooperative Distributed Tracking MPC for Constrained Linear systems: Theory and Synthesis

Cooperative Distributed Tracking MPC for Constrained Linear ...

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IEEE Annual Conference on Decision and control

作者： Christian Conte Melanie N. Zeilinger Manfred Morari Colin N. Jones Automatic Control Laboratory Department of Information Technology and Electrical Engineering ETH Zurich 8092 Zurich Switzerland Department of Electrical Engineering and Computer Sciences University of California Berkeley CA 94702 USA Automatic Control Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) 1015 Lausanne Switzerland

ISBN: (纸本)9781467357159

This paper provides a framework for distributed tracking of piecewise constant references for a network of constrained linear systems which act cooperatively. It is shown how the tracking problem can be posed as a distributed optimization problem and a method for distributed synthesis of the control law is presented. In particular, the notion of a distributed invariant set for tracking is introduced, by means of which a distributed constrained tracking controller with stability guarantee can be defined. A systematic procedure for the synthesis of ellipsoidal terminal sets for tracking is proposed, whereas all synthesis steps can be carried out by distributed optimization and hence without any central coordination. The proposed framework, as well as its functionality and performance, are illustrated by means of a numerical example.

关键词： distributed tracking synthesis Linear system control law systems Theory tracking problem Distribute tracking numerical example

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Certifying non-existence of undesired locally stable equilibria in formation shape control problems

Certifying non-existence of undesired locally stable equilib...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Tyler H. Summers Changbin Yu Soura Dasgupta Brian D.O. Anderson Automatic Control Laboratory ETH Zurich Switzerland Australian National University NICTA Canberra Australia Department of Electrical and Computer Engineering University of Iowa USA

A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a large and growing literature has recently emerged on distance-based formation shape control, global stability properties remain a significant open problem. Even in four-agent formations, the basic question of whether or not there can exist locally stable incorrect equilibrium shapes remains open. This paper shows how this question can be answered for any size formation in principle using semidefinite programming techniques for semialgebraic problems, involving solutions sets of polynomial equations, inequations, and inequalities.

关键词： Polynomials Shape Programming Shape control Vectors Geometry

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Stochastic unit commitment and reserve scheduling: A tractable formulation with probabilistic certificates

Stochastic unit commitment and reserve scheduling: A tractab...

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European control Conference

作者： Kostas Margellos Vahab Rostampour Maria Vrakopoulou Maria Prandini Goran Andersson John Lygeros Automatic Control Laboratory Department of Information Technology and Electrical Engineering ETH Zurich Power Systems Laboratory Department of Information Technology and Electrical Engineering ETH Zurich Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano

ISBN: (纸本)9781479901890

The increased penetration of renewable energy sources to the network highlights the necessity of constructing stochastic variants of the standard unit commitment and reserve scheduling problems. Earlier approaches to such problems are either restricted to ad-hoc methodologies (at the expense of a suboptimal solution), or lead to computationally intractable formulations. In this paper we provide a unified framework to deal with such planning problems for systems with uncertain generation, while providing a-priori probabilistic certificates for the robustness properties of the resulting solution. Our methodology is based on a mixture of randomized and robust optimization and leads to a tractable problem formulation. To illustrate the performance of the proposed methodology we apply it to the IEEE 30-bus network, and compare it by means of Monte Carlo simulations against an algorithm based on a deterministic variant of the unit commitment problem.

关键词： Vectors Robustness Uncertainty Wind power generation Generators Optimization Standards

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