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Scheduling of over-actuated networked control systems

IFAC-PapersOnLine 2022年第13期55卷 25-30页

作者： J. Kreiss R. Postoyan D. Nešić W.P.M.H. Heemels Université de Lorraine CNRS CRAN F-54000 Nancy France Department of Electrical and Electronic Engineering University of Melbourne Parkville VIC 3010 Australia Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Netherlands

We investigate the scenario where an over-actuated plant is controlled over a network. We concentrate on the effect of two network-induced phenomena: varying transmission intervals and scheduling, in the sense that only one of the actuators receives new data at each transmission instant. We present an emulation-based solution for the controller design, i.e., the controller is first designed to stabilize the origin of the plant ignoring the network and second, the packet-based network is taken into account and conditions on the maximum allowable transmission interval (MATI) and the scheduling protocol are given to preserve the stability of the closed-loop system. Our results are tailored to over-actuated plants leading to significant improvements compared to applying off-the-shelf results available in the literature. In particular, a new model is derived and new conditions on the scheduling protocol are given, which lead to a two-measure stability property for the networked control system. We illustrate how new classes of scheduling protocols can be derived by exploiting over-actuation, which leads to larger MATI bounds compared to applying existing results, as shown on a numerical example.

关键词： Networked control systems over-actuated systems hybrid systems stability of hybrid systems Lyapunov methods

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Accelerating Soft-Constrained MPC for Linear systems Through Online Constraint Removal

Accelerating Soft-Constrained MPC for Linear Systems Through...

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IEEE Conference on Decision and control

作者： S.A.N. Nouwens M.M. Paulides W.P.M.H. Heemels Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology Eindhoven The Netherlands Department of Electrical Engineering Electromagnetics for Care & Cure Eindhoven University of Technology Eindhoven The Netherlands Department of Radiotherapy Erasmus University Medical Center Cancer Institute Rotterdam The Netherlands

Optimization-based controllers, such as Model Predictive control (MPC), have attracted significant research interest due to their intuitive concept, constraint handling capabilities, and natural application to multi-input multi-output systems. However, the computational complexity of solving a receding horizon problem at each time step remains a challenge for the deployment of MPC. This is particularly the case for systems constrained by many inequalities. Recently, we introduced the concept of constraint-adaptive MPC (ca-MPC) to address this challenge for linear systems with hard constraints. In ca-MPC, at each time step, a subset of the constraints is removed from the optimization problem, thereby accelerating the optimization procedure, while resulting in identical closed-loop behavior. The present paper extends this framework to soft-constrained MPC by detecting and removing constraints based on sub-optimal predicted input sequences, which is rather easy for soft-constrained MPC due to the receding horizon principle and the inclusion of slack variables. We will translate these new ideas explicitly to an offset-free output tracking problem. The effectiveness of these ideas is demonstrated on a two-dimensional thermal transport model, showing a three order of magnitude improvement in online computational time of the MPC scheme.

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A Coverage control-based Idle Vehicle Rebalancing Approach for Autonomous Mobility-on-Demand systems

arXiv

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arXiv 2023年

作者： Zhu, Pengbo Sirmatel, Isik Ilber Ferrari-Trecate, Giancarlo Geroliminis, Nikolas Urban Transport Systems Laboratory École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland Control Section Department of Electrical and Electronics Engineering Faculty of Engineering Trakya University Edirne22030 Turkey Dependable Control and Decision Group École Polytechnique Fédérale de Lausanne Lausanne1015 Switzerland

As an emerging mode of urban transportation, Autonomous Mobility-on-Demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas), is a potential solution for efficient AMoD fleet management. In this paper, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network of Shenzhen, China. Results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times. Copyright © 2023, The Authors. All rights reserved.

关键词： Urban transportation

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A secure state estimation algorithm for nonlinear systems under sensor attacks

arXiv

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arXiv 2020年

作者： Chong, Michelle S. Sandberg, Henrik Hespanha, João P. Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Netherlands Division of Decision and Control Systems KTH Royal Institute of Techonology Sweden Electrical and Computer Engineering Department University of California Santa Barbara United States

The state estimation of continuous-time nonlinear systems in which a subset of sensor outputs can be maliciously controlled through injecting a potentially unbounded additive signal is considered in this paper. Analogous to our earlier work for continuous-time linear systems in [1], we term the convergence of the estimates to the true states in the presence of sensor attacks as ‘observability under M attacks’, where M refers to the number of sensors which the attacker has access to. Unlike the linear case, we only provide a sufficient condition such that a nonlinear system is observable under M attacks. The condition requires the existence of asymptotic observers which are robust with respect to the attack signals in an input-to-state stable sense. We show that an algorithm to choose a compatible state estimate from the state estimates generated by the bank of observers achieves asymptotic state reconstruction. We also provide a constructive method for a class of nonlinear systems to design state observers which have the desirable robustness property. The relevance of this study is illustrated on monitoring the safe operation of a power distribution network. Copyright © 2020, The Authors. All rights reserved.

关键词： State estimation

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Dual Grid Voltage Modulated Direct Power control of Grid-Connected Voltage Source Converter under Unbalanced Network Condition

Dual Grid Voltage Modulated Direct Power Control of Grid-Con...

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2019 IEEE PES Innovative Smart Grid Technologies Asia, ISGT 2019

作者： Gao, Shuning Zhao, Haoran Gui, Yonghao School of Electrical Engineering Shandong University Ji'nan250061 China Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Ji'nan250061 China Automation and Control Section Department of Electronic Systems Aalborg University Aalborg Denmark

ISBN: (纸本)9781728135205

The Grid voltage Modulated Direct Power control (GVM-DPC) for Voltage Source Converter (VSC) is a recently proposed superior control strategies which features several advantages such as fast power reference tracking, simple structure, no need to use synchronizing techniques, strong robustness and so on. In this paper, an improved Dual Grid Voltage Modulated Direct Power control (D-GVM-DPC) strategies for unbalanced grid voltage condition is proposed and compared with regular voltage oriented dual PI control techniques. The idea of this improvement is to separately control the positive and negative sequence power components based on the original GVM-DPC controller. The simulation results shows that the proposed strategy is superior to the dual current control schemes been used with voltage oriented control strategy. © 2019 IEEE.

关键词： Electric power transmission networks

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Mars helicopter technology demonstrator

Mars helicopter technology demonstrator

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AIAA Atmospheric Flight Mechanics Conference, 2018

作者： Bob Balaram, J. Canham, Timothy Duncan, Courtney Golombek, Matt Grip, Håvard Fjær Johnson, Wayne Maki, Justin Quon, Amelia Stern, Ryan Zhu, David Jet Propulsion Laboratory California Institute of Technology PasadenaCA91109 United States NASA Ames Research Center Moffet Field CA94035 United States Robotics Technologist JPL Mobility and Robotic Systems Section JPL Flight Software and Avionics Systems Section JPL Flight Communications Systems Section JPL Planetary Science Section Robotics Technologist JPL Guidance and Control Section NASA Ames Aeromechanics Office JPL Instrument Software and Science Data Systems Section JPL Spacecraft Mechanical Engineering Section JPL Flight Electronics Section Robotics Electrical Engineer JPL Mobility and Robotic Systems Section

We describe a helicopter that is being developed as a technology demonstrator of Mars aerial mobility. The key design features of the helicopter, associated test infrastructure, and results from a full-scale prototype... 详细信息

ISBN: (数字)9781624105258

ISBN: (纸本)9781624105258

关键词： Antennas

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Guidance Vector Field Encoding based on Contraction Analysis 16

Guidance Vector Field Encoding based on Contraction Analysis

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16th European control Conference, ECC 2018

作者： Wu, Chengshuai Chen, Jian Jeltsema, DImitri Dai, And Chenxi State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Section Control Systems Engineering HAN University of Applied Science P.O. Box 2217 Arnhem6802 CE Netherlands Department of Electrical and Computer Engineering Ohio State University Columbus43210 United States

ISBN: (纸本)9783952426982

The guidance vector field encoding problem is revisited via exploiting the recently developed differential Lyapunov framework for contraction analysis. In control applications, a designed guidance vector field is utilized to guide a particle (such as a robot, or an end actuator) to converge to and circulate along a target curve, such as robot navigation, or motion planing. This paper proposes some new methods for guidance vector filed encoding. The methods analyze the guidance vector field encoding problem from a theoretical perspective providing insights into the problem, and it shows that the contraction analysis is a natural theoretical tool for guidance vector encoding. Furthermore, the differences and relations between the proposed result and the previous methods are discussed. Simulation examples are presented to illustrate the effectiveness of the proposed methods. © 2018 European control Association (EUCA).

关键词： Robots

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Adaptive, online models to detect and estimate gross error in SPNDs

Adaptive, online models to detect and estimate gross error i...

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Indian control Conference (ICC)

作者： Arindam Bhattacharyya Vivek Yogi Sugandha Singla Mani Bhushan Mahendra G. Kelkar Akhilanand P. Tiwari Mahitosh Pramanik Madhu N. Belur Department of Electrical Engineering Department of Chemical Engineering Indian Institute of Technology Bombay India Nuclear Power Corporation of India Ltd Mumbai India Reactor Control Systems Design Section Bhabha Atomic Research Center Mumbai India

ISBN: (纸本)9781509017966

In-core flux measurement is critical for monitoring and power regulation of a large core nuclear reactor. Self Powered Neutron Detectors (SPNDs) are used for measuring the neutron flux in a nuclear reactor. In this paper we propose an online method for SPND gross error detection, identification and estimation. The method uses linear models which are extracted from data and which adapt continuously in time. This adaption is made possible by use of recursive PCA. However, unlike existing recursive PCA approaches which make approximations to achieve recursion, our proposed approach does not make any approximation. We term our technique as `Recursive Principal Component Analysis: Exact Computation' (RPCA-EC). Use of recursion ensures that the computational requirements of RPCA-EC are low thereby facilitating online implementation. Continuous adaption ensures that the model evolves to adequately capture the time varying relationships amongst the SPNDs. The relationships amongst the SPNDs vary with time due to significant variations in the neutron flux profiles in the reactor with varying operating power levels in the reactor. We apply our proposed method on data taken from an operating nuclear reactor in India and compare results with alternate implementations. Results show that the false alarm rate of our implementation is reasonable thereby indicating that the model adapts to time varying relationships. Performance in presence of gross errors is also satisfactory.

关键词： Detectors Inductors Neutrons Principal component analysis Adaptation models Covariance matrices Computational modeling

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Investigation of fractional dynamics and design of ultracapacitor based very low frequency oscillators

Investigation of fractional dynamics and design of ultracapa...

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IEEE India Conference (INDICON)

作者： Mano Ranjan Kumar Subhojit Ghosh Shantanu Das Department of Electrical Engineering National Institute of Technology Raipur Raipur India Reactor Control Systems Design Section E&I Group Bhabha Atomic Research Centre Mumbai India

ISBN: (纸本)9781509036479

In recent years, applications of ultracapacitor in electrical systems have witnessed a rise due to their high power density. Ultracapacitors are known to possess inherent nonlinear dynamics with long term memory, which can be better, described using fractional calculus. This article addresses possible application of ultracapacitors for the design of very low frequency (VLF) oscillators. The presence of fractional dynamics in ultracapacitors has been studied over wide frequency ranges, and utilized to estimate the VLF oscillation frequency. The proposed approach allows design of oscillators for a set of low frequency specifications.

关键词： Supercapacitors Oscillators Mathematical model Integrated circuit modeling Optimization Parameter estimation

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Active Fault Diagnosis in Sampled-data systems

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IFAC-PapersOnLine 2015年第21期48卷 883-888页

作者： Niemann, Henrik Poulsen, Niels Kjolstad Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 DK-2800 Kgs. Lyngby Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark DK-2800 Kgs. Lyngby Denmark

The focus in this paper is on active fault diagnosis (AFD) in closed-loop sampleddata systems. Applying the same AFD architecture as for continuous-time systems does not directly result in the same set of closed-loop matrix transfer functions. For continuous-time systems, the LFT (linear fractional transformation) structure in the connection between the parametric faults and the matrix transfer function (also known as the fault signature matrix) applied for AFD is not directly preserved for sampled-data system. As a consequence of this, the AFD methods cannot directly be applied for sampled-data systems. Two methods are considered in this paper to handle the fault signature matrix for sampled-data systems such that standard AFD methods can be applied. The first method is based on a discretization of the system such that the LFT structure is preserved resulting in the same LFT structure in the fault signature matrix as obtained for continuous-time systems. The other method is an approximation method, where the same structure is obtained for small parametric faults. © 2015

关键词： Continuous time systems

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