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Guidance Vector Field Encoding based on Contraction Analysis 16

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Guidance Vector Field Encoding based on Contraction Analysis

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

Coordinating vehicle platoons for highway bottleneck decongestion and throughput improvement

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arXiv 2019年

作者： Čičić, Mladen Jin, Li Johansson, Karl Henrik Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Malvinas väg 10 Stockholm10044 Sweden Department of Civil and Urban Engineering C2SMART University Transportation Center New York University Tandon School of Engineering 15 MetroTech Center BrooklynNY11201 USA United States

Truck platooning is a technology that is expected to become widespread in the coming years. Apart from the numerous benefits that it brings, its potential effects on the overall traffic situation needs to be studied further, especially at bottlenecks and ramps. However, assuming we can control the truck platoons from the infrastructure, they can be used as controlled moving bottlenecks, actuating control actions on the rest of the traffic. Thus properly controlled platoons can possibly improve the efficiency and throughput of the whole system. In this paper, we use a multi-class cell transmission model to capture the interaction between truck platoons and background traffic, and propose a corresponding queuing model, which we use for control design. As control inputs, we use platoon speeds, and the number of lanes platoons occupy, and we devise a control strategy for throughput improvement. This control law is applied on a highway section upstream of a bottleneck, with one on- ramp and one off-ramp. By postponing and shaping the inflow to the bottleneck, we are able to keep it in free flow, avoiding traffic breakdown and capacity drop, leading to significant reduction of total time spent of all vehicles. We tested the proposed control in a simulation study and found that by applying, we reduce the median delay of all vehicles by 75:6%. Notably, although they are slowed down while actuating control actions, platoons experience less delay compared to the case without control, since they avoid going through congestion at the bottleneck. Copyright © 2019, The Authors. All rights reserved.

关键词： Queueing theory

Fluctuation bounds for the max-weight policy, with applications to state space collapse

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arXiv 2018年

作者： Sharifnassab, Arsalan Tsitsiklis, John N. Jamaloddin Golestani, S. Department of Electrical Engineering Sharif University of Technology Tehran Iran Laboratory for Information and Decision Systems Electrical Engineering and Computer Science Department CambridgeMA02139 United States

We consider a multi-hop switched network operating under a Max-Weight (MW) scheduling policy, and show that the distance be-tween the queue length process and a fluid solution remains bounded by a constant multiple of the deviation of the cumulative arrival pro-cess from its average. We then exploit this result to prove matching upper and lower bounds for the time scale over which additive state space collapse (SSC) takes place. This implies, as two special cases, an additive SSC result in diffusion scaling under non-Markovian ar-rivals and, for the case of i.i.d. arrivals, an additive SSC result over an exponential time scale. Copyright © 2018, The Authors. All rights reserved.

关键词： Additives

High-dimensional joint estimation of multiple directed Gaussian graphical models

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arXiv 2018年

作者： Wang, Yuhao Segarra, Santiago Uhler, Caroline Statistical Laboratory University of Cambridge Department of Electrical and Computer Engineering Rice University Laboratory for Information and Decision Systems Institute for Data Systems and Society Massachusetts Institute of Technology

We consider the problem of jointly estimating multiple related directed acyclic graph (DAG) models based on high-dimensional data from each graph. This problem is motivated by the task of learning gene regulatory networks based on gene expression data from different tissues, developmental stages or disease states. We prove that under certain regularity conditions, the proposed 0-penalized maximum likelihood estimator converges in Frobenius norm to the adjacency matrices consistent with the data-generating distributions and has the correct sparsity. In particular, we show that this joint estimation procedure leads to a faster convergence rate than estimating each DAG model separately. As a corollary, we also obtain high-dimensional consistency results for causal inference from a mix of observational and interventional data. For practical purposes, we propose jointGES consisting of Greedy Equivalence Search (GES) to estimate the union of all DAG models followed by variable selection using lasso to obtain the different DAGs, and we analyze its consistency guarantees. The proposed method is illustrated through an analysis of simulated data as well as epithelial ovarian cancer gene expression data. Copyright © 2018, The Authors. All rights reserved.

关键词： Clustering algorithms

Max-Min Fair Sensor Scheduling: Game-Theoretic Perspective and Algorithmic Solution

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arXiv 2019年

作者： Wu, Shuang Ren, Xiaoqiang Hong, Yiguang Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong Access Linnaeus Center School of Electrical Engineering Kth Royal Institute of Technology Stockholm114 28 Sweden Key Laboratory of Systems and Control Institute of Systems Science Chinese Academy of Sciences Beijing100080 China

We consider the design of a fair sensor schedule for a number of sensors monitoring different linear time-invariant processes. The largest average remote estimation error among all processes is to be minimized. We first consider a general setup for the max-min fair allocation problem. By reformulating the problem as its equivalent form, we transform the fair resource allocation problem into a zero-sum game between a "judge" and a resource allocator. We propose an equilibrium seeking procedure and show that there exists a unique Nash equilibrium in pure strategy for this game. We then apply the result to the sensor scheduling problem and show that the max-min fair sensor scheduling policy can be achieved. Copyright © 2019, The Authors. All rights reserved.

关键词： Game theory

A Situation-Aware Collision Avoidance Strategy for Car-Following

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IEEE/CAA Journal of Automatica Sinica 2018年第5期5卷 1012-1016页

作者： Li Li Fellow IEEE Xinyu Peng Fei-Yue Wang ieee department of automation bnristtsinghua universityBeijing l00084China the department of automation tsinghua universityBeijing l00084China state key laboratory of management and control for complex systems institute of automationchinese academy of sciencesBeijing 100080China the driver cognition and automated driving laboratory university of waterlooWaterloo N2L 3GlCanada the department of electrical and computer engineering purdue school of engineering and technologyindiana university-purdue university indianapolisIndiana 46202-5l32USA

Abstract--In this paper, we discuss how to develop an appropriate collision avoidance strategy for car-following. This strategy aims to keep a good balance between traffic safety and efficiency while also taking into consideration the unavoidable uncertainty of position/speed perception/measurement of vehicles and other drivers. Both theoretical analysis and numerical testing results are provided to show the effectiveness of the proposed strategy. Index Terms--Collision avoidance, safety, traffic efficiency, uncertainty.

关键词： Collision avoidance safety traffic efficiency uncertainty

Metamorphosis of discontinuity lines and rectification of magnetic flux avalanches in the presence of noncentrosymmetric pinning forces

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Physical Review B 2021年第22期103卷 224514-224514页

作者： M. Motta L. Burger Lu Jiang J. D. González Acosta Ž. L. Jelić F. Colauto W. A. Ortiz T. H. Johansen M. V. Milošević C. Cirillo C. Attanasio Cun Xue A. V. Silhanek B. Vanderheyden Departamento de Física Universidade Federal de São Carlos 13565-905 São Carlos São Paulo Brazil Montefiore Research Unit Department of Electrical Engineering and Computer Science Université de Liège 4000 Sart Tilman Belgium School of Aeronautics Northwestern Polytechnical University Xi'an 710072 China Facultad de Ingeniería Universidad del Magdalena Santa Marta Colombia Departement Fysica Universiteit Antwerpen Groenenborgerlaan 171 B-2020 Antwerpen Belgium Nokia Bell Labs Antwerp Belgium Department of Physics University of Oslo POB 1048 Blindern 0316 Oslo Norway CNR-SPIN c/o Università degli Studi di Salerno I-84084 Fisciano (Sa) Italy Dipartimento di Fisica “E.R. Caianiello” Università degli Studi di Salerno I-84084 Fisciano (Sa) Italy School of Mechanics Civil Engineering and Architecture and MIIT Key Laboratory of Dynamics and Control of Complex Systems Northwestern Polytechnical University Xi'an 710072 China Experimental Physics of Nanostructured Materials Q-MAT CESAM Université de Liège B-4000 Sart Tilman Belgium

Considering a noncentrosymmetric pinning texture composed of a square array of triangular holes, the magnetic flux penetration and expulsion are investigated experimentally and theoretically. A direct visualization of the magnetic landscape obtained using a magneto-optical technique on a Nb film is complemented by a multiscale numerical modeling. This combined approach allows the magnetic flux dynamics to be identified from the single flux quantum limit up to the macroscopic electromagnetic response. Within the theoretical framework provided by time-dependent Ginzburg-Landau simulations, an estimation of the in-plane current anisotropy is obtained and its dependence with the radius of the curvature of hole vertices is addressed. These simulations show that current crowding plays an important role in channeling the flux motion, favoring hole-to-hole flux hopping rather than promoting interstitial flux displacement in between the holes. The resulting anisotropy of the critical current density gives rise to a distinct pattern of discontinuity lines for increasing and decreasing applied magnetic fields, in sharp contrast to the invariable patterns reported for centrosymmetric pinning potentials. This observation is partially accounted for by the rectification effect, as demonstrated by finite-element modeling. At low temperatures, where magnetic field penetration is dominated by thermomagnetic instabilities, highly directional magnetic flux avalanches with a fingerlike shape are observed to propagate along the easy axis of the pinning potential. This morphology is reproduced by numerical simulations. Our findings demonstrate that anisotropic pinning landscapes and, in particular, ratchet potentials produce subtle modifications to the critical state field profile that are reflected in the distribution of discontinuity lines.

关键词： Flux pinning Magneto-optical effect Monolayer films Superconductors Finite-element method Landau-Ginzburg theory

Motion Planning In High-Dimensional Spaces

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arXiv 2018年

作者： Petrović, Luka University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems Mobile Robotics

—Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing on systems such as planar mobile robots and low degree-of-freedom (DOF) robotic arms. The increased use of high DOF robots that must perform tasks in real time in complex dynamic environments spurs the need for fast motion planning algorithms. In this overview, we discuss several types of strategies for motion planning in high dimensional spaces and dissect some of them, namely grid search based, sampling based and trajectory optimization based approaches. We compare them and outline their advantages and disadvantages, and finally, provide an insight into future research opportunities. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

Sensitivity to cumulative perturbations for a class of piecewise constant hybrid systems

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arXiv 2018年

We consider a class of continuous-time hybrid dynamical systems that correspond to subgradient flows of a piecewise linear and convex potential function with finitely many pieces, and which include the fluid-level dynamics of the Max-Weight scheduling policy as a special case. We study the effect of an external disturbance/perturbation on the state trajectory, and establish that the magnitude of this effect can be bounded by a constant multiple of the integral of the perturbation. Copyright © 2018, The Authors. All rights reserved.

关键词： Piecewise linear techniques