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2012 20th Mediterranean Conference on control and Automation, MED 2012

作者： Bitsoris, George Vassilaki, Marina Athanasopoulos, Nikolaos Control Systems Laboratory Electrical and Computer Engineering Department University of Patras 26500 Patras Greece Department of Electrical Engineering School of Pedagogical and Technological Education Heraklion 141 21 Athens Greece Electrical Engineering Department Eindhoven University of Technology 5600 MB Eindhoven Netherlands

ISBN: (纸本)9781467325318

In this article the problem of characterizing sets, described by vector nonlinear inequalities of the form v(x) w, as robustly positively invariant and targets of uniformly ultimate bounded nonlinear systems is investigated. The class of general parameter uncertain continuous-time dynamical systems affected by exogenous disturbances is considered. The approach is based on establishing an associated monotone nonlinear comparison system. A numerical example is presented to illustrate the approach. © 2012 IEEE.

关键词： Nonlinear systems

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Stochastic search strategies in 2D using agents with limited perception

Stochastic search strategies in 2D using agents with limited...

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Puljiz, David Varga, Maja Bogdan, Stjepan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9783902823113

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies. © 2012 IFAC.

关键词： Sensory perception

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Loss Bounds for Uncertain Transition Probabilities in Markov decision Processes

Loss Bounds for Uncertain Transition Probabilities in Markov...

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IEEE Annual Conference on decision and control

作者： Andrew Mastin Patrick Jaillet Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology

ISBN: (纸本)9781467320658

We analyze losses resulting from uncertain transition probabilities in Markov decision processes with bounded nonnegative rewards. We assume that policies are precomputed using exact dynamic programming with the estimated transition probabilities, but the system evolves according to different, true transition probabilities. Given a bound on the total variation error of estimated transition probability distributions, we derive upper bounds on the loss of expected total reward. The approach analyzes the growth of errors incurred by stepping backwards in time while precomputing value functions, which requires bounding a multilinear program. Loss bounds are given for the finite horizon undiscounted, finite horizon discounted, and infinite horizon discounted cases, and a tight example is shown.

关键词： TRANSITION PROBABILITIES Markov chain Bound infinite horizon Plant uncertain Upper bound Reward growth of error

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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Network reconstruction of dynamical polytrees with unobserved nodes

Network reconstruction of dynamical polytrees with unobserve...

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IEEE Annual Conference on decision and control

作者： Donatello Materassi Murti V. Salapaka Laboratory for Information and Decision Systems Massachusetts Institute of Technology Department of Electrical and Computer Engineering University of Minnesota

ISBN: (纸本)9781467320658

The paper deals with the problem of unveiling the link structure of a network of linear dynamical systems. A technique is provided guaranteeing an exact detection of the links of a network of dynamical systems with no undirected cycles (Linear Dynamic Polytrees). In particular, the presence of unobserved (latent) nodes is taken into account. Knowledge on the specific number of hidden processes is not required. It is proven that the topology can be consistently reconstructed, as long the degree of each latent node is at least three with outdegree of at least two. The result extends previous work that was limited to a more restricted class of dynamical systems (Rooted Trees).

关键词： DYNAMICAL systems Ganglia topology Network Reconstructive Surgical Procedures

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The reliability value of storage in a volatile environment

The reliability value of storage in a volatile environment

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American control Conference (ACC)

作者： Ali ParandehGheibi Mardavij Roozbehani Asuman Ozdaglar Munther A Dahleh Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781457710957

This paper examines the value of storage in securing reliability of a system with uncertain supply and demand, and supply friction. The storage is frictionless as a supply source, but it cannot be filled up instantaneously. The focus is on application to an energy network in which the nominal supply and demand are assumed to match perfectly, while deviations from the nominal values are modeled as random shocks with stochastic arrivals. Due to friction, the random shocks cannot be tracked by the main supply sources. Storage, when available, can be used to compensate, fully or partially, for the surge in demand or sudden drop in supply. The problem of optimal utilization of storage with the objective of maximizing system reliability is formulated as minimization of the expected discounted cost of blackouts over an infinite horizon. It is shown that when the stage cost is linear in the size of the blackout, the optimal policy is myopic in the sense that all shocks will be compensated by storage up to the available level of storage. However, when the stage cost is strictly convex, it may be optimal to curtail some of the demand and allow a small blackout in the interest of maintaining a higher level of reserve, which may help avoid a large blackout in the future. The value of storage capacity in improving reliability, as well as the effects of the associated optimal policies under different stage costs on the probability distribution of blackouts are examined.

关键词： Cost function Reliability Electric shock Measurement Process control Power system reliability Equations

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Agent-based cyber control strategy design for resilient control systems: Concepts, architecture and methodologies

Agent-based cyber control strategy design for resilient cont...

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2012 5th International Symposium on Resilient control systems, ISRCS 2012

作者： Rieger, Craig Zhu, Quanyan Başar, Tamer Instrumentation Control and Intelligent Systems Idaho National Laboratory Idaho Falls ID United States Coordinated Science Laboratory Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign 1308. W. Main St. Urbana IL United States

ISBN: (纸本)9781467301633

The implementation of automated regulatory control has been around since the middle of the last century through analog means. It has allowed engineers to operate the plant more consistently by focusing on overall operations and settings instead of individual monitoring of local instruments (inside and outside of a control room). A similar approach is proposed for cyber security, where current border-protection designs have been inherited from information technology developments that lack consideration of the high-reliability, high consequence nature of industrial control systems. Instead of an independent development, however, an integrated approach is taken to develop a holistic understanding of performance. This performance takes shape inside a multi-agent design, which provides a notional context to model highly decentralized and complex industrial process control systems, the nervous system of critical infrastructure. The resulting strategy will provide a framework for researching solutions to security and unrecognized interdependency concerns with industrial control systems. © 2012 IEEE.

关键词： Networked control systems

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Stochastic search strategies in 2D using agents with limited perception

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IFAC Proceedings Volumes 2012年第22期45卷 650-654页

作者： David Puljiz Maja Varga Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

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control Lyapunov Functions and Hybrid Zero Dynamics

Control Lyapunov Functions and Hybrid Zero Dynamics

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IEEE Annual Conference on decision and control

作者： Aaron D. Ames Kevin Galloway J. W. Grizzle Department of Mechanical Engineering Texas A&M University Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan

ISBN: (纸本)9781467320658

Hybrid zero dynamics extends the Byrnes-Isidori notion of zero dynamics to a class of hybrid models called systems with impulse effects. Specifically, given a smooth submanifold that is contained in the zero set of an output function and is invariant under both the continuous flow of the system with impulse effects as well as its reset map, the restriction dynamics is called the hybrid zero dynamics. Prior results on the stabilization of periodic orbits of the hybrid zero dynamics have relied on input-output linearization of the transverse variables. The principal result of this paper shows how control Lyapunov functions can be used to exponentially stabilize periodic orbits of the hybrid zero dynamics, thereby significantly extending the class of stabilizing controllers. An illustration of this result on a model of a bipedal walking robot is provided.

关键词： Liapunov function Zero HYBRID PERIODIC ORBITS dynamics Zero set Hybrid electric vehicles biped walking robot Stabilising Continuous flow

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A hierarchical neural network architecture for classification

A hierarchical neural network architecture for classificatio...

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9th International Symposium on Neural Networks, ISNN 2012

作者： Wang, Jing He, Haibo Cao, Yuan Xu, Jin Zhao, Dongbin Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston RI 02881 United States MathWorks Inc. Natick MA 01760 United States Department of Electrical and Computer Engineering Stevens Institute of Technology Hoboken NJ 07030 United States State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9783642313455

In this paper, a hierarchical neural network with cascading architecture is proposed and its application to classification is analyzed. This cascading architecture consists of multiple levels of neural network structure, in which the outputs of the hidden neurons in the higher hierarchical level are treated as an equivalent input data to the input neurons at the lower hierarchical level. The final predictive result is obtained through a modified weighted majority vote scheme. In this way, it is hoped that new patterns could be learned from hidden layers at each level and thus the combination result could significantly improve the learning performance of the whole system. In simulation, a comparison experiment is carried out among our approach and two popular ensemble learning approaches, bagging and AdaBoost. Various simulation results based on synthetic data and real data demonstrate this approach can improve the classification performance. © 2012 Springer-Verlag.

关键词： Adaptive boosting

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