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IEEE Conference on Decision and control

作者： Fabio Pasqualetti Florian Dorfler Francesco Bullo Center for Control Dynamical Systems and Computation University of California at Santa Barbara

ISBN: (纸本)9781612848006

Future power networks will be characterized by safe and reliable functionality against physical and cyber attacks. This paper proposes a unified framework and advanced monitoring procedures to detect and identify network components malfunction or measurements corruption caused by an omniscient adversary. We model a power system under cyber-physical attack as a linear time-invariant descriptor system with unknown inputs. Our attack model generalizes the prototypical stealth, (dynamic) false-data injection and replay attacks. We characterize the fundamental limitations of both static and dynamic procedures for attack detection and identification. Additionally, we design provably-correct (dynamic) detection and identification procedures based on tools from geometric control theory. Finally, we illustrate the effectiveness of our method through a comparison with existing (static) detection algorithms, and through a numerical study.

关键词： Power grids Detection algorithms Detection and identification control Theory power systems

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A Dynamic Boundary Guarding Problem with Translating Targets

A Dynamic Boundary Guarding Problem with Translating Targets

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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Stephen L.Smith Shaunak D.Bopardikar Francesco Bullo the Center for Control Dynamical Systems and ComputationUniversity of California at Santa Barbara

We introduce a problem in which a service vehicle seeks to defend a deadline(boundary) from dynamically arriving mobile targets. The environment is a rectangle and the deadline is one of its edges. Targets arrive continuously over time on the edge opposite the deadline, and move towards the deadline at a fixed speed. The goal for the vehicle is to maximize the fraction of targets that are captured before reaching the deadline. We consider two cases;when the service vehicle is faster than the targets, and;when the service vehicle is slower than the targets. In the first case we develop a novel vehicle policy based on computing longest paths in a directed acyclic graph. We give a lower bound on the capture fraction of the policy and show that the policy is optimal when the distance between the target arrival edge and deadline becomes very large. We present numerical results which suggest near optimal performance away from this limiting regime. In the second case,when the targets are slower than the vehicle, we propose a policy based on servicing fractions of the translational minimum Hamiltonian path. In the limit of low target speed and high arrival rate, the capture fraction of this policy is within a small constant factor of the optimal.

关键词： service A Dynamic Boundary Guarding Problem with Translating Targets

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Novel results on slow coherency in consensus and power networks

Novel results on slow coherency in consensus and power netwo...

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European control Conference (ECC)

作者： Diego Romeres Florian Dörfler Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara

ISBN: (纸本)9781479901890

We revisit the classic slow coherency and area aggregation approach to model reduction in power networks. The slow coherency approach is based on identifying sparsely and densely connected areas of a network, within which all generators swing coherently. A time-scale separation and singular perturbation analysis then results in a reduced low-order system, where coherent areas are collapsed into aggregate variables. Here, we study the application of slow coherency and area aggregation to first-order consensus systems and second-order power system swing dynamics. We unify different theoretic approaches and ideas found throughout the literature, we relax some technical assumptions, and we extend existing results. In particular, we provide a complete analysis of the second-order swing dynamics - without restrictive assumptions on the system damping. Moreover, we identify the reduced aggregate models as generalized first or second-order Laplacian flows with multiple time constants, aggregate damping and inertia matrices, and possibly adverse interactions.

关键词： Aggregates Laplace equations Power system dynamics Symmetric matrices Damping Vectors Generators

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Cyber-Physical Security via Geometric control: Distributed Monitoring and Malicious Attacks

Cyber-Physical Security via Geometric Control: Distributed M...

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IEEE Annual Conference on Decision and control

作者： Fabio Pasqualetti Florian Dorfler Francesco Bullo Center for Control Dynamical Systems and Computation University of California at Santa Barbara

ISBN: (纸本)9781467320658

Cyber-physical systems are ubiquitous in power systems, transportation networks, industrial processes, and critical infrastructures. These systems need to operate reliably in the face of unforeseen failures and external malicious attacks. This paper summarizes and extends our results on the security of cyber-physical systems based on geometric control theory: (i) we propose a mathematical framework for cyber-physical systems, attacks, and monitors;(ii) we characterize fundamental monitoring limitations from system-theoretic and graph-theoretic perspectives;and (iii) we design centralized and distributed attack detection and identification monitors. Finally, we design an attack strategy for a group of power generators to physically compromise the functionality of other generators. Novel contributions include a more general framework, the design of novel centralized and distributed identification monitors, and the attack design case study.

关键词： Monitoring Security control systems Noise Generators control theory Power generation

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Distributed multi-camera synchronization for smart-intruder detection

Distributed multi-camera synchronization for smart-intruder ...

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American control Conference

作者： Markus Spindler Fabio Pasqualetti Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara

ISBN: (纸本)9781457710957

This work proposes algorithms to control the trajectory of a team of cameras for video surveillance. We consider a chain of cameras installed in an environment. These cameras are used to detect smart intruders, who are aware of the cameras' configuration at each time instant, and who schedule their motion to avoid detection, if possible. For this problem setup, we first obtain a lower bound on the worst-case and on the average detection time of a smart intruder. We then propose a team trajectory for the cameras, called the equal-waiting trajectory, with minimum worst-case detection time and constant-factor optimal average detection time. Additionally, we design and analyse a distributed algorithm to steer the cameras in finite time towards the equal-waiting trajectory. Finally, the performance and robustness of our distributed algorithm is further analyzed through a simulation study.

关键词： Cameras Trajectory Synchronization Distributed algorithms Clustering algorithms Robustness Surveillance

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Droop-controlled Inverters are Kuramoto Oscillators *

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IFAC Proceedings Volumes 2012年第26期45卷 264-269页

作者： John W. Simpson-Porco Florian Dörfler Francesco Bullo Center for Control Dynamical Systems and Computation University of California Santa Barbara Santa Barbara CA 93106 USA

Motivated by the recent interest in smart grid technology and by the push towards distributed and renewable energy, we study the parallel operation of DC/AC inverters in a lossless microgrid. We show that the parallel interconnection of DC/AC inverters equipped with conventional droop controllers is precisely described by the Kuramoto model of coupled phase oscillators. This novel description, together with results from the theory of coupled oscillators, allows us to characterize the behavior of the network of inverters. Specifically, we provide a necessary and sufficient condition for the existence of a synchronized solution that is unique and exponentially stable. Remarkably, we find that the existence of such a synchronized solution does not depend on the selection of droop coefficients. We prove that the inverters share the network power demand in proportion to their power ratings if and only if the droop coefficients are selected proportionally, and we characterize the set of feasible loads which can be serviced. These results hold without assumptions on identical line characteristics or voltage magnitudes.

关键词： Inverters Power-system control Smart power applications Synchronization Distributed control Oscillators Electric power systems Load flow solutions

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Simultaneous boundary partitioning and cameras synchronization for optimal video surveillance

Simultaneous boundary partitioning and cameras synchronizati...

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3rd IFAC Workshop on Distributed Estimation and control in Networked systems, NECSYS 2012

作者： Zanella, F. Pasqualetti, F. Carli, R. Bullo, F. Department of Information Engineering Università di Padova Via Gradenigo 6/a 35131 Padova Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara United States

ISBN: (纸本)9783902823229

This paper proposes a real-time distributed algorithm for a team of smart cameras to self-organize and perform video surveillance of an open boundary. In particular, our algorithm simultaneously partitions the boundary among the cameras, and synchronizes the motion of the cameras to optimize the surveillance performance. We focus on the detection of smart intruders, who are aware of the cameras configuration at each time instant, and who schedule their motion to avoid detection for as long as possible. We consider both the worst-case and the average detection times of smart intruders. Our algorithm achieves minimum worst-case detection time, and, under some reasonable assumptions, constant-factor optimal average detection time. © 2012 IFAC.

关键词： Cameras

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From Contraction Theory to Fixed Point Algorithms on Riemannian and Non-Euclidean Spaces

From Contraction Theory to Fixed Point Algorithms on Riemann...

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IEEE Conference on Decision and control

作者： Francesco Bullo Pedro Cisneros-Velarde Alexander Davydov Saber Jafarpour Center of Control Dynamical Systems and Computation University of California Santa Barbara USA

ISBN: (纸本)9781665436601

The design of fixed point algorithms is at the heart of monotone operator theory, convex analysis, and of many modern optimization problems arising in machine learning and control. This tutorial reviews recent advances in understanding the relationship between Demidovich conditions, one-sided Lipschitz conditions, and contractivity theorems. We review the standard contraction theory on Euclidean spaces as well as little-known results for Riemannian manifolds. Special emphasis is placed on the setting of non-Euclidean norms and the recently introduced weak pairings for the ℓ 1 and ℓ ∞ norms. We highlight recent results on explicit and implicit fixed point schemes for non-Euclidean contracting systems.

关键词： Manifolds Heart Machine learning algorithms Conferences Tutorials Machine learning Aerospace electronics

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Distributed estimation and detection under local information

Distributed estimation and detection under local information

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作者： Pasqualetti, F. Carli, R. Bicchi, A. Bullo, F. Center for Control Dynamical Systems and Computation University of California Santa Barbara United States Centro I. R. E. Piaggio Università di Pisa Pisa Italy

ISBN: (纸本)9783902661821

This work considers the problem of obtaining optimal estimates via distributed computation in a large scale system. The electric power system, the transportation system, and generally any computer or network system, are examples of large scale systems: a decentralized estimation of signals based on observations acquired by spatially distributed sensors is the basis for a wide range of important applications. In this work, we focus on the problem of reconstructing the initial state of a linear network in the presence of process and measurement noise. We consider a local model information setup, in which the entire dynamical and measurement model is nowhere available and cannot be reconstructed for the computation. Our estimation procedure relies upon a novel technique to solve a consistent system of linear equations, for which we prove correctness and convergence. In the second part of the paper we consider the problem of detecting anomalies in a large scale network driven by noise. Despite the theoretical advances in this field of research, the currently available procedures to enforce security in large scale systems are computationally inefficient and numerically unreliable. Using our optimal estimation scheme, we describe a distributed procedure with performance guarantees that only requires local knowledge of the system model. © 2010 IFAC.

关键词： Electric power systems

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Optimization Strategy of Bio-Inspired Metaheuristic Algorithms Tuned PID controller for PMBDC Actuated Robotic Manipulator

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Procedia Computer Science 2020年 171卷 2040-2049页

作者： Sudarshan K. Valluru Madhusudan Singh Center for Control of Dynamical Systems and Computation Department of Electrical Engineering Delhi Technological University Delhi-110042 India

The present article makes an attempt to evaluate the computational performance of genetic meta heuristic optimized control algorithms. Here, the multi-objective bio inspired algorithm (MOGA) and adaptive particle swarm optimization (APSO) algorithm are used to tune linear PID (L-PID) and nonlinear PID(NL-PID) controllers to implement performance and execution control of permanent magnet brushed DC (PMBDC) motor actuated robotic manipulator. The MOGA, APSO optimised nonlinear and linear PID controllers have been validated for their response efficacy and compared in respect of the steady-state error, overshoot and settling time of PMBDC driven robotic Manipulator. The efficacy of metaheuristics such as APSO and MOGA tuned NL-PID controller are better as compared to the L- PID controlled objects. Experimental results show that the NL-PID controller mends the controlled objects’ performace with a reduction in both the overshoot as well as the settling time, if tuned either with MOGA or APSO for L-PID controllers while NL-PID controller tuned with APSO gives satisfactory dynamic response of the system.

关键词： L-PID NL-PID MOGA APSO Robotic Manipulator

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