检索结果-内蒙古大学图书馆

On the relationship between control barrier functions and projected dynamical systems

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Delimpaltadakis, Giannis Heemels, W.P.M.H. The Control Systems Technology Group Mechanical Engineering Eindhoven University of Technology Netherlands

In this paper, we study the relationship between systems controlled via control Barrier Function (CBF) approaches and a class of discontinuous dynamical systems, called Projected Dynamical systems (PDSs). In particular, under appropriate assumptions, we show that the vector field of CBF-controlled systems is a Krasovskii-like perturbation of the set-valued map of a differential inclusion, that abstracts PDSs. This result provides a novel perspective to analyze and design CBF-based controllers. Specifically, we show how, in certain cases, it can be employed for designing CBF-based controllers that, while imposing safety, preserve asymptotic stability and do not introduce undesired equilibria or limit cycles. Finally, we briefly discuss about how it enables continuous implementations of certain projection-based controllers, that are gaining increasing popularity. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent systems under STL Specifications

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Engelaar, Maico H.W. Zhang, Zengjie Vlahakis, Eleftherios E. Dimarogonas, Dimos V. Lazar, Mircea Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into sub-specifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing. © 2024, CC BY-NC-ND.

关键词： Stochastic systems

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent systems under STL Specifications

学校读者我要写书评

暂无评论

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Ag...

IEEE Conference on Decision and control

作者： M. H. W. Engelaar Z. Zhang E. E. Vlahakis D.V. Dimarogonas M. Lazar S. Haesaert Department of Electrical Engineering (Control Systems Group) Eindhoven University of Technology The Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with realtime allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into subspecifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing.

关键词： Vehicle routing Stochastic processes Probabilistic logic Prediction algorithms Real-time systems Robustness Resource management Vehicle dynamics Multi-agent systems Predictive control

Deadtime Compensation-Based Approximate Decoupling control Approach for Multivariable Processes

学校读者我要写书评

暂无评论

Deadtime Compensation-Based Approximate Decoupling Control A...

IEEE Region 10 International Conference TENCON

作者： Suresh Aldhandi Ketan P. Detroja Department of Electrical Engineering The Systems and Control Group Indian Institute of Technology Hyderabad Telangana India

ISBN: (数字)9798350350821

ISBN: (纸本)9798350350838

The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches.

关键词： Couplings Uncertainty System dynamics Robust stability Delay effects Process control Minimization MIMO Tuning IEEE Regions

Equilibrium-Independent control of Continuous-Time Nonlinear systems via the LPV Framework - Extended Version

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Koelewijn, Patrick J.W. Weiland, Siep Tóth, Roland The Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This "equilibrium-free" concept is especially beneficial for control problems that require the tracking of setpoints and rejection of persistent disturbances, such as input loads. In this paper, we show how the velocity form, i.e., the time-differentiated dynamics of the system, plays a crucial role in characterizing these properties and how the analysis of it can be solved by the application of Linear Parameter-Varying (LPV) methods in a computationally efficient manner. Furthermore, by leveraging the properties of the velocity form and the LPV framework, a novel controller synthesis method is presented which ensures closed-loop universal shifted stability and performance. The proposed controller design is verified in a simulation study and also experimentally on a real system. Additionally, we compare the proposed method to a standard LPV control design, demonstrating the improved stability and performance guarantees of the new approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

Data-driven Dissipativity Analysis of Linear Parameter-Varying systems

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Verhoek, Chris Berberich, Julian Haesaert, Sofie Allgöwer, Frank Tóth, Roland The Control Systems Group Eindhoven University of Technology Netherlands The University of Stuttgart Institute for Systems Theory and Automatic Control Germany The Institute for Computer Science and Control Hungary

We derive direct data-driven dissipativity analysis methods for Linear Parameter-Varying (LPV) systems using a single sequence of input-scheduling-output data. By means of constructing a semi-definite program subject to linear matrix inequality constraints based on this data-dictionary, direct data-driven verification of (Q, S, R)type of dissipativity properties of the data-generating LPV system is achieved. Multiple implementation methods are proposed to achieve efficient computational properties and to even exploit structural information on the scheduling, e.g., rate bounds. The effectiveness and trade-offs of the proposed methodologies are shown in simulation studies of academic and physically realistic examples. © 2023, CC BY-NC-SA.

关键词： Scheduling algorithms

Ergodic Convergence Results for the Arrow-Hurwicz Differential System

学校读者我要写书评

暂无评论

Ergodic Convergence Results for the Arrow-Hurwicz Differenti...

IEEE Conference on Decision and control

作者： Simon K. Niederlander Research group Autonomous Systems and Control Siemens Technology Munich Germany

In a real Hilbert space setting, we investigate the ergodic convergence properties of the solutions of the classical Arrow-Hurwicz differential system in view of solving linearly constrained convex minimization problems. Under the convexity hypothesis on the objective function of the minimization prob-lem, we recover the fact that every solution of the Arrow-Hur-wicz differential system weakly converges in average towards its asymptotic center. Moreover, it is shown that the primal-dual gap function relative to an averaged solution obeys the asymptotic estimate $\mathcal{O}(1/t)$ as $t\rightarrow+\infty$ . If, in addition, the linear operator associated with the constraint function of the minimization problem is bounded from below, we find that the primal-dual gap function obeys the refined asymptotic estimate $\overline{\mathcal{O}}(1/t^{2})$ as $t\rightarrow+\infty$ . Numerical experiments illustrate our theoretical findings.

关键词：

PointPillars Backbone Type Selection for Fast and Accurate LiDAR Object Detection

学校读者我要写书评

暂无评论

PointPillars Backbone Type Selection for Fast and Accurate L...

International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Lis, Konrad Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031220241

3D object detection from LiDAR sensor data is an important topic in the context of autonomous cars and drones. In this paper, we present the results of experiments on the impact of backbone selection of a deep convolutional neural network on detection accuracy and computation speed. We chose the PointPillars network, which is characterised by a simple architecture, high speed, and modularity that allows for easy expansion. During the experiments, we paid particular attention to the change in detection efficiency (measured by the mAP metric) and the total number of multiply-addition operations needed to process one point cloud. We tested 10 different convolutional neural network architectures that are widely used in image-based detection problems. For a backbone like MobilenetV1, we obtained an almost 4x speedup at the cost of a 1.13% decrease in mAP. On the other hand, for CSPDarknet we got an acceleration of more than 1.5x at an increase in mAP of 0.33%. We have thus demonstrated that it is possible to significantly speed up a 3D object detector in LiDAR point clouds with a small decrease in detection efficiency. This result can be used when PointPillars or similar algorithms are implemented in embedded systems, including SoC FPGAs. The code is available at https://***/vision-agh/pointpillars-backbone. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Object detection

On Accessibility Fairness in Intermodal Autonomous Mobility-on-Demand systems

学校读者我要写书评

暂无评论

arXiv 2024年

作者： Salazar, Mauro Giraldo, Sara Betancur Paparella, Fabio Pedroso, Leonardo MOVEMENT Research Group Control Systems Technology section Eindhoven University of Technology Eindhoven5600 MB Netherlands

Research on the operation of mobility systems so far has mostly focused on minimizing cost-centered metrics such as average travel time, distance driven, and operational costs. Whilst capturing economic indicators, such metrics do not account for transportation justice aspects. In this paper, we present an optimization model to plan the operation of Intermodal Autonomous Mobility-on-Demand (I-AMoD) systems, where self-driving vehicles provide on-demand mobility jointly with public transit and active modes, with the goal to minimize the accessibility unfairness experienced by the population. Specifically, we first leverage a previously developed network flow model to compute the I-AMoD system operation in a minimum-time manner. Second, we formally define accessibility unfairness, and use it to frame the minimum-accessibility-unfairness problem and cast it as a linear program. We showcase our framework for a real-world case-study in the city of Eindhoven, NL. Our results show that it is possible to reach an operation that is on average fully fair at the cost of a slight travel time increase compared to a minimum-travel-time solution. Thereby we observe that the accessibility fairness of individual paths is, on average, worse than the average values obtained from flows, setting the stage for a discussion on the definition of accessibility fairness itself. Copyright © 2024, The Authors. All rights reserved.

关键词： Travel time