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3rd IFAC Workshop on Cyber-Physical and Human systems, CPHS 2020

作者： Mei, Wenjun Bullo, Francesco Chen, Ge Hendrickx, Julien M. Dörfler, Florian Automatic Control Laboratory Eth Zurich Zurich8006 Switzerland Center for Control Dynamical Systems and Computation University of California Santa BarbaraCA93106 United States Academy of Mathematics and Systems Science Chinese Academy of Science Beijing100190 China Institute of Information and Communication Technologies Electronics and Applied Mathematics Université Catholique de Louvain Louvain-la-NeuveB-1348 Belgium Automatic Control Laboratory Eth Zurich Zurich8006 Switzerland

Mathematical modeling plays a fundamental role in understanding how social influence shapes individuals' opinions. Although most opinion dynamics models assume that individuals update their opinions by averaging others' opinions, we point out that the weighted-averaging mechanism features a non-negligible unrealistic implication. We propose a new micro-foundation of opinion dynamics, i.e., the weighted-median mechanism, in the framework of cognitive dissonance theory and resolves the shortcomings of weighted averaging. Validation via empirical data indicates that the weighted-median mechanism significantly outperforms the weighted-averaging mechanism in predicting individual opinion shifts. Compared with the averaging-based opinion dynamics, the weighted-median model, despite its simplicity in form, replicates more realistic features of opinion dynamics, and exhibits richer phase-transition behavior depending on more delicate and robust network structures. The novel weighted-median model opens up a new line of research and renovates our understanding of the opinion formation process. ©2020 The *** is an open access article under the CC BY-NC-ND license.

关键词： Multi agent systems

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A Hamilton–Jacobi Formulation for Optimal Coordination of Heterogeneous Multiple Vehicle systems*

A Hamilton–Jacobi Formulation for Optimal Coordination of H...

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2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Matthew R. Kirchner Mark J. Debord João P. Hespanha Center for Control Dynamical Systems and Computation (CCDC) University of California Santa Barbara CA USA Naval Air Warfare Center Weapons Division China Lake CA USA

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

We present a method for optimal coordination of multiple vehicle teams when multiple endpoint configurations are equally desirable, such as seen in the autonomous assembly of formation flight. The individual vehicles' positions in the formation are not assigned a priori and a key challenge is to find the optimal configuration assignment along with the optimal control and trajectory. Commonly, assignment and trajectory planning problems are solved separately. We introduce a new multi-vehicle coordination paradigm, where the optimal goal assignment and optimal vehicle trajectories are found simultaneously from a viscosity solution of a single Hamilton-Jacobi (HJ) partial differential equation (PDE), which provides a necessary and sufficient condition for global optimality. Intrinsic in this approach is that individual vehicle dynamic models need not be the same, and therefore can be applied to heterogeneous systems. Numerical methods to solve the HJ equation have historically relied on a discrete grid of the solution space and exhibits exponential scaling with system dimension, preventing their applicability to multiple vehicle systems. By utilizing a generalization of the Hopf formula, we avoid the use of grids and present a method that exhibits polynomial scaling in the number of vehicles.

关键词： Viscosity Space vehicles Sufficient conditions Trajectory planning Trajectory Mathematical model Vehicle dynamics

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Resilient control under Quantization and Denial-of-Service: Co-designing a Deadbeat controller and Transmission Protocol

arXiv

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arXiv 2021年

作者： Liu, Wenjie Sun, Jian Wang, Gang Bullo, Francesco Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Department of Control Science and Engineering Tongji University Shanghai201804 China Mechanical Engineering Department The Center of Control Dynamical Systems and Computation UC Santa BarbaraCA93106-5070 United States

This paper is concerned with the problem of stabilizing continuous-time linear time-invariant systems subject to quantization and Denial-of-Service (DoS) attacks. In this context, two DoS-induced challenges emerge with the design of resilient encoding schemes, namely, the coupling between encoding strategies of different signals, and the synchronization between the encoder and decoder. To address these challenges, a novel structure that is equipped with a deadbeat controller as well as a delicate transmission protocol for the input and output channels, co-designed leveraging the controllability index, is put forward. When both input and output channels are subject to DoS attacks and quantization, the proposed structure is shown able to decouple the encoding schemes for input, output, and estimated output signals. This property is further corroborated by designing encoding schemes as well as conditions that ensure exponential stability of the closed-loop system. On the other hand, when only the output channel is subject to network phenomenon, the proposed structure can achieve exponential stabilization without acknowledgment (ACK) signals, in contrast to existing ACK-based results. Finally, a numerical example is given to demonstrate the practical merits of the proposed approach as well as the theory. © 2021, CC BY.

关键词： Denial-of-service attack

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Network Inference using Sinusoidal Probing

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IFAC-PapersOnLine 2021年第9期54卷 696-700页

作者： Robin Delabays Melvyn Tyloo Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zurich Switzerland Center for Control Dynamical Systems and Computation UCSB Santa Barbara CA 93106-5070 USA School of Engineering University of Applied Sciences of Western Switzerland HES-SO CH-1951 Sion Switzerland Institute of Physics École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland

The aim of this manuscript is to present a non-invasive method to recover the network structure of a dynamical system. We propose to use a controlled probing input and to measure the response of the network, in the spirit of what is done to determine oscillation modes in large electrical networks. For a large class of dynamical systems, we show that this approach is analytically tractable and we confirm our findings by numerical simulations of networks of Kuramoto oscillators. Our approach also allows us to determine the number of agents in the network by probing and measuring a single one of them.

关键词： Networks inference processes Jacobian matrices input signals low frequencies

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Data-driven resilient predictive control under denial-of-service

arXiv

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arXiv 2021年

作者： Liu, Wenjie Sun, Jian Wang, Gang Bullo, Francesco Chen, Jie State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China Mechanical Engineering Department The Center of Control Dynamical Systems and Computation UC Santa Barbara CA93106-5070 United States Department of Control Science and Engineering Tongji University Shanghai201804 China State Key Lab of Intelligent Control and Decision of Complex Systems The School of Automation Beijing Institute of Technology Beijing100081 China

The study of resilient control of linear time-invariant (LTI) systems against denial-of-service (DoS) attacks is gaining popularity in emerging cyber-physical applications. In previous works, explicit system models are required to design a predictor-based resilient controller. These models can be either given a priori or obtained through a prior system identification step. Recent research efforts have focused on data-driven control based on pre-collected input-output trajectories (i.e., without explicit system models). In this paper, we take an initial step toward data-driven stabilization of stochastic LTI systems under DoS attacks, and develop a resilient model predictive control (MPC) scheme driven purely by data-dependent conditions. The proposed data-driven control method achieves the same level of resilience as the model-based control method. For example, local input-to-state stability (ISS) is achieved under mild assumptions on the noise and the DoS attacks. To recover global ISS, two modifications are further suggested at the price of reduced resilience against DoS attacks or increased computational complexity. Finally, a numerical example is given to validate the effectiveness of the proposed control method. © 2021, CC BY.

关键词： Model predictive control

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Trajectory Tracking control of TRMS using FO-PID and FOI-PD controllers: An Experiment

Trajectory Tracking Control of TRMS using FO-PID and FOI-PD ...

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International Conference on Recent Developments in control, Automation and Power Engineering (RDCAPE)

作者： Sudarshan K. Valluru Rajul Kumar Ayush Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

The emphasis of this paper is to develop and design the controllers in the modes of Fractional Order- Proportional Integral Derivative and Fractional Order Integral- Proportional Derivative for stabilization of benchmarked Twin Rotor Multiple inputs multiple-output system (TRMS). These controllers have been implemented and compared experimentally for the trajectory control of TRMS. Both the controllers are explained, and their parameters are reformed and tuned by using the interior-point nonlinear optimization method (fmincon function) to minimize the cost function of controller parameters. The pitch and yaw trajectory responses of TRMS with both the controllers are experimentally obtained and tested with disturbances at different intervals. It's observed that Fractional Order Integral-Proportional Derivative controller will provide effective trajectory tracking as compared with Fractional Order- Proportional Integral Derivative controller.

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Design of Precise FLC for Trajectory Tracking and Stabilization of Twin Rotor MIMO System

Design of Precise FLC for Trajectory Tracking and Stabilizat...

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IEEE International Conference on Engineering Technologies and Applied Sciences (ICETAS)

作者： Sudarshan K. Valluru Rajul Kumar Rahul Kumar Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

ISBN: (数字)9781728140827

ISBN: (纸本)9781728140834

A progressive and analytical approach is used for designing the precise fuzzy logic controller to control a Twin Rotor Multiple Input Multiple Output System (TRMS). Two fuzzy logic controllers are designed and tested in simulation for pitch and yaw trajectory tracking, including one degree of freedom each. For the formalization and fuzzy implication of both pitch and yaw fuzzy controllers, Mamdani constructive paradigm is used in this paper. Triangular and Trapezoidal member functions are constructed in Fuzzy Interference System and tuned by using performance evaluation after initial characteristic design as well as experience and parametric investigation about TRMS plant. Performance of Conventional Linear PID controller has been compared in terms of peak overshoot, rise time, settling time with fuzzy logic controller (FLC) for stabilization of pitch and yaw angle. Impulse signals are given as disturbances in simulation to the TRMS output, which resembles as real-time aerial and atmospheric disturbances. The results convey that the stabilization achievement of the fuzzy controller is predominant as compared to the Linear-PID controller.

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Reconstructing Network Structures from Partial Measurements

Research Square

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Research Square 2021年

作者： Tyloo, Melvyn Delabays, Robin Jacquod, Philippe School of Engineering University of Applied Sciences of Western Switzerland HES-SO SionCH-1951 Switzerland Automatic Control Laboratory ETH Zürich ZürichCH-8092 Switzerland Center for Control Dynamical Systems and Computation UC Santa Barbara Santa BarbaraCA93106-5070 United States Department of Quantum Matter Physics University of Geneva GenevaCH-1211 Switzerland

The dynamics of systems of interacting agents is determined by the structure of their coupling network. The knowledge of the latter is therefore highly desirable, for instance to develop efficient control schemes, to accurately predict the dynamics or to better understand inter-agent processes. In many important and interesting situations, the network structure is not known, however, and previous investigations have shown how it may be inferred from complete measurement time series, on each and every agent. These methods implicitly presuppose that, even though the network is not known, all its nodes are. A major shortcoming of theirs is that they cannot provide any reliable information, not even on partial network structures, as soon as some agents are unobservable. Here, we construct a novel method that determines network structures even when not all agents are measurable. We establish analytically and illustrate numerically that velocity signal correlators encode not only direct couplings, but also geodesic distances in the coupling network, within the subset of measurable agents. When dynamical data are accessible for all agents, our method is furthermore algorithmically more efficient than the traditional ones, because it does not rely on matrix inversion. © 2021, CC BY.

关键词： Correlators

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Design and Implementation of L-PID and IO-PID controllers for Twin Rotor MIMO System

Design and Implementation of L-PID and IO-PID Controllers fo...

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International Conference on Power Electronics, control and Automation (ICPECA)

作者： Sudarshan K. Valluru Rajul Kumar Rahul Kumar Center for Control of Dynamical Systems and Computation Delhi Technological University Delhi India

ISBN: (纸本)9781728139593

The design and implementation of the Linear-Proportional Integral Derivative (L-PID) controller and Integer Order-Proportional Integral Derivative (IO-PID) controller on a benchmarked Twin Rotor MIMO system (TRMS) for experimental verification of their trajectory tracking capabilities are presented in this paper. These controllers have been implemented experimentally for controlling pitch and yaw angles of the TRMS. IO-PID controller have been described and its parameters are modified and adjusted using the nonlinear interior point optimization (fmincon) method to minimize the cost function of the controller parameters. TRMS yaw and pitch trajectory responses with these controllers are obtained and tested experimentally at distinct intervals with disturbances. It is observed that IO-PID controller will give better trajectory tracking performance as compared with L-PID controller.

关键词： TRMS L-PID IO- PID Trajectory tracking Proportional Integral Derivative control trajectory tracking controllers Dual rotors YAW Cost functions multiple input multiple output systems

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When Smoothness is Not Enough: Toward Exact Quantification and Optimization of the Price-of-Anarchy

When Smoothness is Not Enough: Toward Exact Quantification a...

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IEEE Annual Conference on Decision and control

作者： Rahul Chandan Dario Paccagnan Jason R. Marden Department of Electrical and Computer Engineering Center of Control Dynamical Systems and Computation UC Santa Barbara USA Department of Mechanical Engineering Center of Control Dynamical Systems and Computation UC Santa Barbara USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Today's multiagent systems have grown too complex to rely on centralized controllers, prompting increasing interest in the design of distributed algorithms. In this respect, game theory has emerged as a valuable tool to complement more traditional techniques. The fundamental idea behind this approach is the assignment of agents' local cost functions, such that their selfish minimization attains, or is provably close to, the global objective. Any algorithm capable of computing an equilibrium of the corresponding game inherits an approximation ratio that is, in the worst case, equal to its price-of-anarchy. Therefore, a successful application of the game design approach hinges on the possibility to quantify and optimize the equilibrium *** this end, we introduce the notion of generalized smoothness, and show that the resulting efficiency bounds are significantly tighter compared to those obtained using the traditional smoothness approach. Leveraging this newly-introduced notion, we quantify the equilibrium performance for the class of local resource allocation games. Finally, we show how the agents' local decision rules can be designed in order to optimize the efficiency of the corresponding equilibria, by means of a tractable linear program.

关键词： Games Resource management Cost function Multi-agent systems Approximation algorithms control systems Nash equilibrium

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