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IEEE Conference on decision and control

作者： Christopher G. Mayhew Ricardo G. Sanfelice Andrew R. Teel Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA

ISBN: (纸本)9781424431236

A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semi-global practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller fitting into this family is developed and demonstrated by simulation and experiment.

关键词： Robustness Remotely operated vehicles Mobile robots Robust control Stability Position measurement Noise measurement Working environment noise Chemical sensors Current measurement

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Information theory vs. queueing theory for resource allocation in multiple access channels

Information theory vs. queueing theory for resource allocati...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Ali ParandehGheibi Muriel Medard Asuman Ozdaglar Atilla Eryilmaz Laboratory for Information and Decision Systems Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA USA Electrical and Computer Engineering Ohio State Uinversity OH USA

We consider the problem of rate allocation in a fading Gaussian multiple-access channel with fixed transmission powers. The goal is to maximize a general concave utility function of the expected achieved rates of the users. There are different approaches to this problem in the literature. From an information theoretic point of view, rates are allocated only by using the channel state information. The queueing theory approach utilizes the global queue-length information for rate allocation to guarantee throughput optimality as well as maximizing a utility function of the rates. In this work, we make a connection between these two approaches by showing that the information theoretic capacity region of a multiple-access channel and its stability region are equivalent. Moreover, our numerical results show that a simple greedy policy which does not use the queue-length information can outperform queue-length based policies in terms of convergence rate and fairness.

关键词： Information theory Queueing analysis Resource management Fading Throughput Channel state information Stability Multiaccess communication Laboratories Sampling methods

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Dynamic rate allocation in fading multiple access channels

Dynamic rate allocation in fading multiple access channels

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Information Theory and Applications Workshop, ITA

作者： Ali ParandehGheibi Atilla Eryilmaz Asuman Ozdaglar Muriel Medard Laboratory of Information and Decision Systems Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA USA Electrical and Computer Engineering Ohio State Uinversity OH USA

We consider the problem of rate allocation in a fading Gaussian multiple-access channel (MAC) with fixed transmission powers. Our goal is to maximize a general concave utility function of transmission rates over the throughput capacity region. In contrast to earlier works in this context that propose solutions where a potentially complex optimization problem must be solved in every decision instant, we propose a low-complexity approximate rate allocation policy and analyze the effect of temporal channel variations on its utility performance. To the best of our knowledge, this is the first work that studies the tracking capabilities of an approximate rate allocation scheme under fading channel conditions. We build on an earlier work to present a new rate allocation policy for a fading MAC that implements a low-complexity approximate gradient projection iteration for each channel measurement, and explicitly characterize the effect of the speed of temporal channel variations on the tracking neighborhood of our policy. We further improve our results by proposing an alternative rate allocation policy for which tighter bounds on the size of the tracking neighborhood are derived. These proposed rate allocation policies are computationally efficient in our setting since they implement a single gradient projection iteration per channel measurement and each such iteration relies on approximate projections which has polynomial-complexity in the number of users.

关键词： Resource management Fading Throughput Dynamic scheduling Distance measurement Electronic mail Approximation algorithms

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Rational controllers in computer/Communication Networks

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IFAC Proceedings Volumes 2008年第2期41卷 15427-15432页

作者： Pierre T. Kabamba Wen-Chiao Lin Semyon M. Meerkov Choon Yik Tang Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109 USA Sensors & Decision Systems Group Idaho National Laboratory Idaho Falls ID 83415 USA School of Electrical and Computer Engineering University of Oklahoma Norman OK 73019 USA

Traditional feedback controllers are used to ensure system operation in a desired regime. In contrast, rational controllers are intended to determine a regime most appropriate for the system, given varying conditions of its operation. In this paper, two types of rational controllers are described and their applications in wireless personal area networks and sensor networks are presented.

关键词： Adaptation and learning control of networks sensor networks wireless networks power efficient computing/communications

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A Nested Matrosov Theorem for Hybrid systems

A Nested Matrosov Theorem for Hybrid Systems

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2008 American control Conference (ACC), vol.7

作者： Ricardo G. Sanfelice Andrew R. Teel Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA Department of Electrical and Computer Engineering University of California Santa Barbara USA Department of Electrical and Computer Engineering University of California Santa Barbara CA USA

We show that for time-invariant hybrid systems given by a flow map, flow set, jump map, and jump set, uniform global stability of a compact set plus the existence of Lyapunov-like functions and continuous functions satisfying a nested condition imply uniform global asymptotic stability of the compact set ("uniform" in the sense that bounds on the solutions and on the convergence time depend only on the distance to the compact set of interest). The required nested condition is a combination of the conditions in nested Matrosov theorems for time-varying continuous-time and discrete-time systems available in the literature. Our result also shows that Matrosov's theorem is a reasonable alternative to LaSalle's invariance principle for time-invariant hybrid systems to conclude attractivity to a compact set. We illustrate the application of our main result by examples.

关键词： Asymptotic stability Time varying systems control systems Differential equations Sufficient conditions Output feedback Adaptive control Stability analysis Vehicles Laboratories

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Analysis of hybrid systems resulting from relay-type hysteresis and saturation: A Lyapunov approach

Analysis of hybrid systems resulting from relay-type hystere...

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IEEE Conference on decision and control

作者： Dan Dai Ricardo G. Sanfelice Tingshu Hu Andrew R. Teel Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Laboratory for Information and Decision Systems Massachusetts Institute of Technology MA USA Department of Electrical and Computer Engineering University of Massachusetts Lowell MA USA

ISBN: (纸本)9781424431236

This paper studies a class of hybrid systems with linear (or linear plus saturated linear) continuous and discrete dynamics, which are determined by a flow map and jump map, and state-triggered jumps. One motivation for considering this class of systems is that they can model control systems with a relay-type hysteresis element. Based on Lyapunov theorems for hybrid systems, a Lyapunov function is constructed that effectively incorporates the feature of the jumps. Global asymptotic stability analysis is presented for the case when the flow map is linear, and local asymptotic stability analysis is presented for the case when the flow map is linear plus saturated linear. The stability conditions are derived as matrix inequalities. A numerical example is presented to illustrate the hybrid modeling process for a system experiencing hysteresis. Simulations confirm the effectiveness of the proposed analysis tools and demonstrate the potential of the Lyapunov function.

关键词： Relays Hysteresis Lyapunov method Asymptotic stability control systems Linear matrix inequalities systems engineering and theory control system synthesis Analytical models Proportional control

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Distributed subgradient methods and quantization effects

Distributed subgradient methods and quantization effects

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IEEE Conference on decision and control

作者： Angelia Nedic Alex Olshevsky Asuman Ozdaglar John N. Tsitsiklis Department of Industrial and Enterprise Systems Engineering University of Illinois Urbana-Champaign IL USA Department of Electrical Engineering and Computer Science Laboratory for Information and Decision Systems Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781424431236

We consider a convex unconstrained optimization problem that arises in a network of agents whose goal is to cooperatively optimize the sum of the individual agent objective functions through local computations and communications. For this problem, we use averaging algorithms to develop distributed subgradient methods that can operate over a time-varying topology. Our focus is on the convergence rate of these methods and the degradation in performance when only quantized information is available. Based on our recent results on the convergence time of distributed averaging algorithms, we derive improved upper bounds on the convergence rate of the unquantized subgradient method. We then propose a distributed subgradient method under the additional constraint that agents can only store and communicate quantized information, and we provide bounds on its convergence rate that highlight the dependence on the number of quantization levels.

关键词： Quantization Convergence Optimization methods Network topology Upper bound Resource management control systems Communication industry computer industry electrical equipment industry

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IEEE Transactions on Haptics: Editorial

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IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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On distributed averaging algorithms and quantization effects

On distributed averaging algorithms and quantization effects

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IEEE Conference on decision and control

作者： Angelia Nedic Alex Olshevsky Asuman Ozdaglar John N. Tsitsiklis Industrial and Enterprise Systems Engineering Department University of Illinois Urbana-Champaign Urbana IL USA Laboratory for Information and Decision Systems Electrical Engineering and Computer Science Department Massachusetts Institute of Technology Cambridge MA USA

ISBN: (纸本)9781424431236

We consider distributed iterative algorithms for the averaging problem over time-varying topologies. Our focus is on the convergence time of such algorithms when complete (unquantized) information is available, and on the degradation of performance when only quantized information is available. We study a large and natural class of averaging algorithms, which includes the vast majority of algorithms proposed to date, and provide tight polynomial bounds on their convergence time. We then propose and analyze distributed averaging algorithms under the additional constraint that agents can only store and communicate quantized information. We show that these algorithms converge to the average of the initial values of the agents within some error. We establish bounds on the error and tight bounds on the convergence time, as a function of the number of quantization levels.

关键词： Quantization Convergence Iterative algorithms Algorithm design and analysis Polynomials Distributed control Topology Degradation Information analysis Large-scale systems

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An Application of Convex Optimization Concepts to Approximate Dynamic Programming

An Application of Convex Optimization Concepts to Approximat...

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2008 American control Conference (ACC), vol.10

作者： Edilson F. Arruda Marcelo D. Fragoso Joao Bosco R. do Val Department of Systems And Control National Laboratory for Scientific Computing Petropolis Rio de Janeiro Brazil Department of Telematics School of Electrical and Computer Engineering State University of Campinas Sao Paulo Brazil

This paper deals with approximate value iteration (AVI) algorithms applied to discounted dynamic (DP) programming problems. The so-called Bellman residual is shown to be convex in the Banach space of candidate solutions to the DP problem. This fact motivates the introduction of an AVI algorithm with local search that seeks an approximate solution in a lower dimensional space called approximation architecture. The optimality of a point in the approximation architecture is characterized by means of convex optimization concepts and necessary and sufficient conditions to global optimality are derived. To illustrate the method, two examples are presented which were previously explored in the literature.

关键词： Dynamic programming Function approximation Approximation algorithms Sufficient conditions Stochastic processes Large-scale systems Heuristic algorithms Robustness Convergence computer architecture

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