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27th IEEE International Conference on Intelligent Transportation Systems, ITSC 2024

作者： Atheupe, Gael P. Martinez, Didier Monsuez, Bruno Renault Technical Centre Renault Group & Ensta Paris Paris France Renault Technical Centre Renault Group Dept. Chassis Control & Adas Systems Guyancourt France Ensta Paris Dept. Computer Science & Systems Engineering Paris France

ISBN: (纸本)9798331505929

The transition to vehicle electrification introduces new demands on chassis dynamics, paving the way for advances in driving dynamics, safety, and efficiency. A key consideration arises: how are driving torque impulses converted in electric vehicles with multiple power sources? This study introduces a novel approach to address these demands through the integration of state-of-the-art yaw control, using concurrent front/rear axle and front right/front left torque distribution based on the wheel speed balance control concept. Our aim is not necessarily to demonstrate the supremacy of our approach, but rather to present a fresh philosophical perspective on the problem of yaw control in electric vehicles. Our method embodies dynamic load transfer and axle dynamics into the yaw control problem formulation, setting it apart from current methodologies. Through experimental results, we illustrate the effectiveness of our proposed approach regardless of road surface conditions. © 2024 IEEE.

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Reinforcement Learning-Based Fault-Tolerant control of Uncertain Strict-Feedback Nonlinear Systems With Intermittent Actuator Faults

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IEEE Transactions on Neural Networks and Learning Systems 2025年第6期36卷 10464-10478页

作者： Qinmin Yang Huaying Li Zhengwei Ruan Bo Fan Shuzhi Sam Ge State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Hangzhou Huawei Communication Technology Company Ltd. Hangzhou China School of Automation Science and Engineering Xi’an Jiaotong University Xi’an China Department of Electrical and Computer Engineering Institute for Functional Intelligent Materials National University of Singapore Queenstown Singapore

In this work, a novel reinforcement learning-based adaptive fault-tolerant control (FTC) scheme with actuator redundancy is presented for a nonlinear strict-feedback system with nonlinear dynamics and uncertainties. A learning-based switching function technique is established to steer different groups of actuators automatically and successively to mitigate the impact of faulty actuators by observing a switching performance index. The optimal tracking control problem (OTCP) of strict-feedback nonlinear systems is transformed into an equivalent optimal regulation problem of each affine subsystem via adaptive feedforward controllers. Subsequently, the designed objective functions associated with Hamilton–Jacobi–Bellman (HJB) estimate errors caused by neural network (NN) approximations can be minimized by the reinforcement learning algorithm without value or policy iterations. It is proved that the tracking objective can be achieved and all signals in the closed-loop system can be guaranteed to be bounded, as long as the minimum time interval between two successive failures is bounded. Theoretical results are verified by simulations.

关键词： Actuators Switches Fault tolerant systems control systems Optimal control Redundancy Nonlinear dynamical systems Adaptive control Regulation Industrial control

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Hidden Markov Models:Inverse Filtering,Belief Estimation and Privacy Protection

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Journal of Systems science & Complexity 2021年第5期34卷 1801-1820页

作者： LOURENCO Ines MATTILA Robert ROJAS Cristian R. HU Xiaoming WAHLBERG Bo Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Division of Optimizations and Systems Theory School of Engineering SciencesKTH Royal Institute of TechnologyStockholmSweden

A hidden Markov model(HMM)comprises a state with Markovian dynamics that can only be observed via noisy *** paper considers three problems connected to HMMs,namely,inverse filtering,belief estimation from actions,and privacy enforcement in such a ***,the authors discuss how HMM parameters and sensor measurements can be reconstructed from posterior distributions of an HMM ***,the authors consider a rational decision-maker that forms a private belief(posterior distribution)on the state of the world by filtering private *** authors show how to estimate such posterior distributions from observed optimal actions taken by the *** the setting of adversarial systems,the authors finally show how the decision-maker can protect its private belief by confusing the adversary using slightly sub-optimal *** range from financial portfolio investments to life science decision systems.

关键词： Belief estimation counter-adversarial systems hidden Markov models inverse decision making inverse filtering

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A Priori Error Bounds for Model Reduction of Interconnected Linear Systems using Robust Performance Analysis

A Priori Error Bounds for Model Reduction of Interconnected ...

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2022 American control Conference, ACC 2022

作者： Janssen, Lars Besselink, Bart Fey, Rob Hossein Abbasi, Mohammad Van De Wouw, Nathan Eindhoven University of Technology Dynamics and Control Mechanical Engineering United States University of Groningen Bernoulli Institute for Mathematics Computer Science and Artificial Intelligence Netherlands

ISBN: (数字)9781665451963

ISBN: (纸本)9781665451963

Subsystem reduction of interconnected systems provides a computationally cheap and structure-preserving alternative to direct model order reduction techniques of large-scale systems. Unfortunately, for this method, error bounds for the reduced interconnected system are often difficult to compute or not available. This paper provides an approach to determine an a priori error bound and to give stability guarantees for subsystem reduction of interconnected systems. This is achieved by modeling subsystem reduction errors as an uncertainty such that the structured singular value, a computational tool used in robust control, can be used. A method is provided to compute either a global or a frequency-dependent a priori error bound. Additionally, it is proven that convergence of this method is guaranteed. Finally, the effectiveness of the proposed method is demonstrated by an illustrative example. © 2022 American Automatic control Council.

关键词： Large scale systems

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Frequency Domain Auto-tuning of Structured LPV controllers for High-Precision Motion control

Frequency Domain Auto-tuning of Structured LPV Controllers f...

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IEEE Conference on Decision and control

作者： Yorick Broens Hans Butler Roland Tóth Department of Electrical Engineering Eindhoven University of Technology Eindhoven The Netherlands ASML Veldhoven The Netherlands Systems and Control Laboratory HUNREN Institute for Computer Science and Control Hungary

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the capabilities of traditional solutions. Traditional control methods often struggle with the complexity and position-dependent effects inherent in modern motion systems, leading to compromises in performance and a laborious task of controller design. This paper addresses these challenges by introducing a novel structured feedback control auto-tuning approach for multiple-input multiple-output (MIMO) motion systems. By leveraging frequency response function (FRF) estimates and the linear-parameter-varying (LPV) control framework, the proposed approach automates the controller design, while providing local stability and performance guarantees. Key innovations include norm-based magnitude optimization of the sensitivity functions, an automated stability check through a novel extended factorized Nyquist criterion, a modular structured MIMO LPV controller parameterization, and a controller discretization approach which preserves the continuous-time (CT) controller parameterization. The proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator prototype.

关键词： Technological innovation Sensitivity Frequency-domain analysis Stability criteria Prototypes Throughput Frequency response Motion control Optimization MIMO communication

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A Collaborative and Distributed Learning-Based Solution to Autonomously Plan computer Networks

A Collaborative and Distributed Learning-Based Solution to A...

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International Conference on Intelligence in Next Generation Networks (ICIN)

作者： Doriana Monaco Alessio Sacco Enrico Alberti Guido Marchetto Flavio Esposito Department of Control and Computer Engineering Politecnico di Torino Italy Computer Science Department Saint Louis University USA

The high programmability provided by Software Defined Networking (SDN) paradigm facilitated the integration of Machine Learning (ML) methods to design a new family of network management schemes. Among them, we can cite self-driving networks, where ML is used to analyze data and define strategies that are then translated into network configurations by the SDN controllers, making the networks autonomous and capable of auto-scaling decisions based on the network’s needs. Despite their attractiveness, the centralized design of the majority of proposed solutions cannot keep up with the increasing size of the network. To this end, this paper investigates the use of a multi-agent reinforcement learning (MARL) model for auto-scaling decisions in an SDN environment. In particular, we study two possible alternatives for distributing operations: a collaborative one, where controllers share the same observations, and an individual one, where controllers make decisions according to their own logic and share only some basic information, such as the network topology. After an experimental campaign performed both on Mininet and GENI, results showed that both approaches can guarantee high throughput while minimizing the set of active resources.

关键词： Technological innovation computer aided instruction Network topology Distance learning Design methodology Conferences Collaboration

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Distributed Stochastic Bilevel Optimization: Improved Complexity and Heterogeneity Analysis

arXiv

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arXiv 2023年

作者： Niu, Youcheng Xu, Jinming Sun, Ying Huang, Yan Chai, Li College of Control Science and Engineering Zhejiang University China School of Electrical Engineering and Computer Science The Pennsylvania State University United States

This paper consider solving a class of nonconvex-strongly-convex distributed stochastic bilevel optimization (DSBO) problems with personalized inner-level objectives. Most existing algorithms require computational loops for hypergradient estimation, leading to computational inefficiency. Moreover, the impact of data heterogeneity on convergence in bilevel problems is not explicitly characterized yet. To address these issues, we propose LoPA, a loopless personalized distributed algorithm that leverages a tracking mechanism for iterative approximation of inner-level solutions and Hessian-inverse matrices without relying on extra computation loops. Our theoretical analysis explicitly characterizes the heterogeneity across nodes denoted by b, and establishes a b23 sublinear rate of O((1−ρ1)2K + (1−ρ) 32 K 23 + √1K(σp + √1mσc)) without the boundedness of local hypergradients, where σp and σc represent the gradient sampling variances associated with the inner- and outer-level variables, respectively. We also develop a variant of LoPA based on gradient tracking to eliminate the impact of data heterogeneity, yielding an improved rate of O((1−ρ1)4K + √1K(σp + √1mσc)). The computational complexity of LoPA is of O(ϵ−2) to an ϵ-stationary point, matching the communication complexity due to the loopless structure, which outperforms existing counterparts for DSBO. Numerical experiments validate the effectiveness of the proposed algorithm. © 2023, CC BY.

关键词： Computational complexity

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Hierarchical Clustering-Based State Grouping Reinforcement Learning for Switching Decision of Autonomous Vehicles

Hierarchical Clustering-Based State Grouping Reinforcement L...

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2023 IEEE International Conference on Unmanned Systems, ICUS 2023

作者： Ouyang, Wenjie Jiao, Yiwen Liu, Yang Li, Yang Hu, Manjiang Qin, Hongmao College of Mechanical and Vehicle Engineering Hunan University Changsha China College of Computer Science and Electronic Engineering Hunan University Changsha China College of Electrical Mechanical and Computer Science Delft University of Technology Delft Netherlands College of Mechanical and Vehicle Engineering Hunan University State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle Changsha China Institute of Hunan University Wuxi Intelligent Control Research Wuxi China

ISBN: (纸本)9798350316308

Reinforcement learning (RL) has gained wide attention, but its implementation in autonomous vehicles is still limited by insufficient sample efficiency and heavy training costs. The training efficiency of RL agents is influenced by the dimension of the state space, which can be partitioned to reduce the complexity of sampling and computation. This study proposes a hierarchical clustering-based state grouping reinforcement learning (HCSG-RL) method for the switching decision of autonomous vehicles. First, we partition the base state space into groups and generate a hierarchical tree of state space groups. Then, we train multiple sub-agents for each node in the hierarchical tree. Finally, we add these trained-well sub-model into master policy. This method allows us to fully explore all state spaces and improve the training efficiency of individual agents, which handles the 'long-tail' issue and the curse of dimensionality issue. We conduct experiments in a simulation environment and results show that the proposed method has 16-72% reward improvement compared to the tree model in different road length. © 2023 IEEE.

关键词： Reinforcement learning

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A Novel Blockchain-Integrated Distributed Data Storage Model with Built-in Load Balancing 16

A Novel Blockchain-Integrated Distributed Data Storage Model...

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16th IEEE International Conference on Application of Information and Communication Technologies, AICT 2022

作者： Hammoud, Obadah Tarkhanov, Ivan A. National University of Science and Technology Department of Engineering Cybernetics Moscow Russia State Academic University for Humanities Federal Research Center 'Computer Science and Control' of Russian Academy of Sciences Russia

ISBN: (纸本)9781665451628

Most companies relay on centralized servers, which are considered as a fast and easy to deploy solution for file sharing, but they have many downsides, like security and trust issues, which can be solved using DLT (blockchain) solutions. However, DLT-based solutions have many challenges, such as nodes orchestration, adjusting reliability and double-spending, as well as load balancing. This research proposes a DLT (Distributed Ledger Technology) based model for files storage for companies using p2p networks, which takes into account both data reliability and storage space efficiency. More efficient data storage is achieved through the use of the Erasure coding technique. For load balancing, a set of algorithms that can be implemented in the form of a smart contract were proposed. The described model can become the basis of the IT infrastructure for trusted exchange of documents, technical and scientific information, games distributions, mobile applications, updates of scientific, regulatory and technical databases in b2b and b2c format © 2022 IEEE.

关键词： Blockchain

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Security Issues and Defensive Approaches in Deep Learning Frameworks

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Tsinghua science and Technology 2021年第6期26卷 894-905页

作者： Hongsong Chen Yongpeng Zhang Yongrui Cao Jing Xie Department of Computer Science University of Science and Technology Beijing(USTB)Beijing 100083China Beijing Key Laboratory of Knowledge Engineering for Materials Science Beijing 100083China Department of Computer Science and Technology University of Science and Technology Beijing(USTB)Beijing 100083China Defense Electronics Institute China Industrial Control System Cyber Emergency Response TeamBeijing 100040China

Deep learning frameworks promote the development of artificial intelligence and demonstrate considerable potential in numerous ***,the security issues of deep learning frameworks are among the main risks preventing the wide application of *** on deep learning frameworks by malicious internal or external attackers would exert substantial effects on society and *** start with a description of the framework of deep learning algorithms and a detailed analysis of attacks and vulnerabilities in *** propose a highly comprehensive classification approach for security issues and defensive approaches in deep learning frameworks and connect different attacks to corresponding defensive ***,we analyze a case of the physical-world use of deep learning security *** addition,we discuss future directions and open issues in deep learning *** hope that our research will inspire future developments and draw attention from academic and industrial domains to the security of deep learning frameworks.

关键词： adversarial examples deep learning frameworks defensive approaches security issues

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