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Event-triggered Observability: A Set-membership Perspective

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arXiv 2022年

作者： Zheng, Kaikai Shi, Dawei Chen, Tongwen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Electrical and Computer Engineering University of Alberta EdmontonABT6G 1H9 Canada

This work attempts to discuss the observability of linear time-invariant systems with event-triggered measurements. A new notion of observability, namely, ǫ-observability is defined with parameter ǫ, which relates to the worst-case performance of inferring the initial state based on not only the received measurement but also the implicit information in the event-triggering conditions at no-event instants. A criterion is developed to test the proposed ǫ-observability of discrete-time linear systems, based on which an iterative event-triggered set-membership observer is designed to evaluate a set containing all possible values of the state. The proposed set-membership observer is designed as the outer approximation of the ellipsoids predicted based on previous state estimates and the ellipsoids inferred by fusing the received measurement and communication conditions, which is optimal in the sense of trace at each step and is proved to be asymptotically bounded. The efficiency of the proposed event-triggered set-membership state observer is verified by numerical experiments. © 2022, CC BY.

关键词： State estimation

Improving IoT Network Lifetime Through HHO-MPPT optimized Solar Energy Harvesting

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Improving IoT Network Lifetime Through HHO-MPPT optimized So...

Mechatronic systems Supervision (IW_MSS), IEEE International Workshop on

作者： Sirine Rabah Aida Zaier Jaime Lloret Hassen Dahman National Engineering School of Gabes Research Laboratory Modeling Analysis and Control of Systems (MACS- LR16ES22) National Engineering School of Tunis Innov Lab University of Carthage Tunis Tunisia Instituto de Investigacion Para la Gestion Integrada de Zonas Costeras Universitat Politecnica de Valencia Gandia Spain b-Department of Automatic and Electrical Engineering National Engineering School of Gabes a-LaPhyMNE-LR05ES14 Gabes University

The principal contribution of this study lies in creating an effective solar energy harvesting system intended to address the energy limitations experienced by batteries in Internet of Things (IoT) networks. Ideally, IoT network nodes equipped with optimized Solar Energy Harvesting systems should operate for extended periods. To achieve this goal, we propose the utilization of Maximum Power Point Tracking (MPPT) based on Harris Hawks Optimization (HHO) controllers. This strategy aims to optimize solar power extraction, consequently boosting overall system efficiency. We’ve implemented our methodology in MATLAB/Simulink and assessed its performance using a range of performance metrics. The results demonstrate the efficiency of our method, which is further substantiated through a comparative analysis with analysis with two traditional techniques. Our proposed method achieves maximum power tracking performance in photovoltaic (PV) systems in both cases of stable and variable weather conditions.

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Optimizing Vaccine Allocation Strategies in Pandemic Outbreaks: An Optimal control Approach

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arXiv 2021年

作者： Tonkens, Sander de Klaver, Paul Salazar, Mauro The Department of Mechanical and Aerospace Engineering University of California San Diego United States The Máxima Medisch Centrum Eindhoven Netherlands The Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Netherlands

Since early 2020, the world has been dealing with a raging pandemic outbreak: COVID-19. A year later, vaccines have become accessible, but in limited quantities, so that governments needed to devise a strategy to decide which part of the population to prioritize when assigning the available doses, and how to manage the interval between doses for multi-dose vaccines. In this paper, we present an optimization framework to address the dynamic double-dose vaccine allocation problem whereby the available vaccine doses must be administered to different age-groups to minimize specific societal objectives. In particular, we first identify an age-dependent Susceptible-Exposed-Infected-Recovered (SEIR) epidemic model including an extension capturing partially and fully vaccinated people, whereby we account for age-dependent immunity and infectiousness levels together with disease severity. Second, we leverage our model to frame the dynamic age-dependent vaccine allocation problem for different societal objectives, such as the minimization of infections or fatalities, and solve it with nonlinear programming techniques. Finally, we carry out a numerical case study with real-world data from The Netherlands. Our results show how different societal objectives can significantly alter the optimal vaccine allocation strategy. For instance, we find that minimizing the overall number of infections results in delaying second doses, whilst to minimize fatalities it is important to fully vaccinate the elderly first. Copyright © 2021, The Authors. All rights reserved.

关键词： Vaccines

Fast quantized average consensus over static and dynamic directed graphs

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arXiv 2021年

作者： Rikos, Apostolos I. Hadjicostis, Christoforos N. Johansson, Karl H. Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Electrical and Computer Engineering University of Cyprus Nicosia Cyprus

In this paper we study the distributed average consensus problem in multi-agent systems with directed communication links that are subject to quantized information flow. Specifically, we present and analyze a distributed averaging algorithm which operates exclusively with quantized values (i.e., the information stored, processed and exchanged between neighboring agents is subject to deterministic uniform quantization) and relies on event-driven updates (e.g., to reduce energy consumption, communication bandwidth, network congestion, and/or processor usage). The main idea of the proposed algorithm is that each node (i) models its initial state as two quantized fractions which have numerators equal to the node’s initial state and denominators equal to one, and (ii) transmits one fraction randomly while it keeps the other stored. Then, every time it receives one or more fractions, it averages their numerators with the numerator of the fraction it stored, and then transmits them to randomly selected out-neighbors. We characterize the properties of the proposed distributed algorithm and show that its execution, on any static and strongly connected digraph, allows each agent to reach in finite time a fixed state that is equal (within one quantisation level) to the average of the initial states. We extend the operation of the algorithm to achieve finite-time convergence in the presence of a dynamic directed communication topology subject to some connectivity conditions. Finally, we provide examples to illustrate the operation, performance, and potential advantages of the proposed algorithm. We compare against state-of-the-art quantized average consensus algorithms and show that our algorithm’s convergence speed significantly outperforms most existing protocols. © 2021, CC BY.

关键词： Multi agent systems

Three-agent Time-constrained Cooperative Pursuit-Evasion

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arXiv 2021年

作者： Sinha, Abhinav Kumar, Shashi Ranjan Mukherjee, Dwaipayan The Intelligent Systems & Control Lab. Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

This paper considers a pursuit-evasion scenario among three agents– an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on designing effective nonlinear feedback control laws for the evader-defender team using a time-constrained guidance approach. The evader lures the pursuer on the collision course by offering itself as bait. At the same time, the defender protects the evader from the pursuer by exercising control over the engagement duration. Depending on the nature of the mission, the defender may choose to take an aggressive or defensive stance. Such consideration widens the applicability of the proposed methods in various three-agent motion planning scenarios such as aircraft defense, asset guarding, search and rescue, surveillance, and secure transportation. We use a fixed-time sliding mode control strategy to design the control laws for the evader-defender team and a nonlinear finite-time disturbance observer to estimate the pursuer’s maneuver. Finally, we present simulations to demonstrate favorable performance under various engagement geometries, thus vindicating the efficacy of the proposed designs. © 2021, CC BY-NC-SA.

关键词： Motion planning

Network Inference using Sinusoidal Probing

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IFAC-PapersOnLine 2021年第9期54卷 696-700页

作者： Robin Delabays Melvyn Tyloo Automatic Control Laboratory Swiss Federal Institute of Technology CH-8092 Zurich Switzerland Center for Control Dynamical Systems and Computation UCSB Santa Barbara CA 93106-5070 USA School of Engineering University of Applied Sciences of Western Switzerland HES-SO CH-1951 Sion Switzerland Institute of Physics École Polytechnique Fédérale de Lausanne (EPFL) CH-1015 Lausanne Switzerland

The aim of this manuscript is to present a non-invasive method to recover the network structure of a dynamical system. We propose to use a controlled probing input and to measure the response of the network, in the spirit of what is done to determine oscillation modes in large electrical networks. For a large class of dynamical systems, we show that this approach is analytically tractable and we confirm our findings by numerical simulations of networks of Kuramoto oscillators. Our approach also allows us to determine the number of agents in the network by probing and measuring a single one of them.

关键词： Networks inference processes Jacobian matrices input signals low frequencies

Modelling of Microburst Based on the Slanted Vortex-Ring Model

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Chinese Journal of Electronics 2018年第2期27卷 318-323页

作者： LIN Lianlei LI Xilin WANG Gang Department of Automatic Test Control Harbin Institute of Technology Department of Communication Engineering Harbin Institute of Technology

A modelling method of microburst fields based on the slanted vortex-ring model was proposed. Unlike the previous vortex-ring-based model which can only generate the vertically downward microburst fields, the proposed method can produce the slanted microburst fields which are closer to the natural conditions. By setting the slant angle and the orientation angle of the slanted vortexring model, the microburst fields with any slant angle and orientation angle can be generated. A nested DE algorithm was introduced for the selection of model parameters, through which the model parameters can be flexibly and easily determined in accordance with the experimental requirements. A series of experiments were conducted and the results indicate that the proposed method can accurately and effectively generate the microburst fields.

关键词： Microburst Slanted vortex-ring model Nested DE

A Distributed control framework for the optimal operation of DC microgrids

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arXiv 2022年

作者： Fu, Zao Cucuzzella, Michele Cenedese, Carlo Yu, Wenwu Scherpen, Jacquelien M.A. School of Cyber Science and Engineering Southeast University Nanjing211189 China Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia27100 Italy Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zürich Physikstrasse 3 Zürich8092 Switzerland

In this paper we propose an original distributed control framework for DC mcirogrids. We first formulate the (optimal) control objectives as an aggregative game suitable for the energy trading market. Then, based on the dual theory, we analyze the equivalent distributed optimal condition for the proposed aggregative game and design a distributed control scheme to solve it. By interconnecting the DC mcirogrid and the designed distributed control system in a power preserving way, we steer the DC microgrid's state to the desired optimal equilibrium, satisfying a predefined set of local and coupling constraints. Finally, based on the singular perturbation system theory, we analyze the convergence of the closed-loop system. The simulation results show excellent performance of the proposed control framework. © 2022, CC BY-NC-SA.

关键词： Perturbation techniques

Dynamic allocation of visual attention for vision-based autonomous navigation under data rate constraints

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arXiv 2021年

作者： Pedram, Ali Reza Funada, Riku Tanaka, Takashi Walker Department of Mechanical Engineering University of Texas Austin United States Department of Systems and Control Tokyo Institute of Technology Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States

— This paper considers the problem of task-dependent (top-down) attention allocation for vision-based autonomous navigation using known landmarks. Unlike the existing paradigm in which landmark selection is formulated as a combinatorial optimization problem, we model it as a resource allocation problem where the decision-maker (DM) is granted extra freedom to control the degree of attention to each landmark. The total resource available to DM is expressed in terms of the capacity limit of the in-take information flow, which is quantified by the directed information from the state of the environment to the DM’s observation. We consider a receding horizon implementation of such a controlled sensing scheme in the Linear-Quadratic-Gaussian (LQG) regime. The convex-concave procedure is applied in each time step, whose time complexity is shown to be linear in the horizon length if the alternating direction method of multipliers (ADMM) is used. Numerical studies show that the proposed formulation is sparsity-promoting in the sense that it tends to allocate zero data rate to uninformative landmarks. Copyright © 2021, The Authors. All rights reserved.

关键词： Decision making