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IEEE Conference on Decision and control

作者： Bingzhuo Zhong Siyuan Liu Marco Caccamo Majid Zamani TUM School of Engineering and Design Technical University of Munich Germany Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science University of Colorado Boulder USA

In the past decade, artificial-intelligence-based (AI-based) techniques have been widely applied to design controllers over cyber-physical systems (CPSs) for complex control missions (e.g., motion planning in robotics). Nevertheless, AI-based controllers, particularly those developed based on deep neural networks, are typically very complex and are challenging to be formally verified. To cope with this issue, we propose a secure-by-construction architecture, namely Safe-Sec-visor architecture, to sandbox AI-based unverified controllers. By applying this architecture, the overall safety and security of CPSs can be ensured simultaneously, while formal verification over the AI-based controllers is not required. Here, we consider invariance and opacity properties as the desired safety and security properties, respectively. Accordingly, by leveraging a notion of (augmented) control barrier functions, we design a supervisor to check the control inputs provided by the AI-based controller and decide whether to accept them. At the same time, a safety-security advisor runs in parallel and provides fallback control inputs whenever the AI-based controller is rejected for safety and security reasons. To show the effectiveness of our approaches, we apply them to a case study on a quadrotor controlled by an AI-based controller. Here, the initial state of the quadrotor contains secret information which should not be revealed while the safety of the quadrotor should be ensured.

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Decentralized Game-based Auction Algorithm for Scheduling Robotic Chargers to Service EVs with Uncertain Demands

IEEE Transactions on Intelligent Vehicles

引用

IEEE Transactions on Intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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SECURE-BY-CONSTRUCTION SYNTHESIS FOR control systems

arXiv

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arXiv 2023年

作者： Zhong, Bingzhuo Liu, Siyuan Caccamo, Marco Zamani, Majid Department of Computer Science University of Colorado Boulder United States Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden TUM School of Engineering and Design Technical University of Munich Germany

In this paper, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which characterizes the system’s ability to maintain plausible deniability of its secret behavior in the presence of an intruder. These controllers are synthesized based on a concept of so-called (augmented) control barrier functions, which we introduce and discuss in detail. We propose conditions that facilitate the construction of the desired (augmented) control barrier functions and their corresponding secure-by-construction controllers. To compute these functions, we propose an iterative scheme that leverages iterative sum-of-square programming techniques. This approach enables efficient computation of these functions, particularly for polynomial systems. Moreover, we demonstrate the flexibility of our approach by incorporating user-defined cost functions into the construction of secure-by-construction controllers. Finally, we validate the effectiveness of our results through two case studies, illustrating the practical applicability and benefits of our proposed approach. Copyright © 2023, The Authors. All rights reserved.

关键词： controllers

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Experimental Comparison of H-Infinity Synthesis and Feedback Linearization on a MIMO Gimbal Example

Experimental Comparison of H-Infinity Synthesis and Feedback...

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control Technology and Applications (CCTA),

作者： Mert Özçelik Burak Kürkçü Zeki Yağız Bayraktaroğlu Control Systems Design Department Aselsan Inc. Ankara Turkey Department of Mechanical Engineering University of California Berkeley CA USA Department of Computer Engineering Hacettepe University Ankara Turkey Department of Mechanical Engineering Istanbul Technical University Istanbul Turkey

This study investigates the controller types and effects of the design techniques on gimbal stabilization. Since implementing the controllers and determining the system’s robustness is straightforward, the frequency domain design approaches are widely used with linear controllers in electro-optical inertial stabilized systems. Besides, the required system models can be obtained from experimental data easily. Nevertheless, the system model could change in the operational conditions. Therefore, nonlinear controllers are needed in this situation. In this investigation, we obtained a proper system model using system identification methods to design a mixed-sensitivity H ∞ controller. Then, we proposed an input-output feedback linearization controller with a linear quadratic regulator (LQR) based state feedback controller design to stabilize the 2 degrees of freedom (DOF) gimbal. Finally, we compared these two controllers regarding reference tracking, sensitivity function, and disturbance rejection performances on the experimental setup under 6 DOF disturbance profiles.

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Online Scheduling in Virtualized TSN Networks via Joint Admission control and VNF Embedding

Online Scheduling in Virtualized TSN Networks via Joint Admi...

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IEEE International Conference on Communications in China (ICCC)

作者： Yajing Zhang Cailian Chen Chaoqun You Mingyan Li Xinping Guan Tony Q. S. Quek Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai P. R. China School of Computer Science Fudan University College of Computer Science Chongqing University Chongqing P. R. China Information Systems Technology and Design Singapore University of Technology and Design Singapore

ISBN: (数字)9798350378412

ISBN: (纸本)9798350378429

Introducing virtualization enhances the flexibility of time-sensitive networking (TSN), wherein applications manifest as service function chains comprising a series of virtual network functions (VNFs). However, such virtualized TSN realizes determinacy through global configuration, being too complicated to serve dynamic applications in time. To address this issue, we innovatively propose to achieve TSN scheduling by distributively executing admission control (AC), whereby the scheduling complexity is radically reduced. Specifically, we first build a two-way AC model that captures TSN multi-queue characteristics. Then, we define admissible regions of nodes and links, working as metrics for AC decision-making and enabling feasible TSN scheduling. Built upon this, we propose a joint AC and VNF embedding mechanism, Rapid Admission control (RapidAC), which consists of two algorithms. The first algorithm responds to dynamic applications rapidly and derives node-mapping solutions by judging nodes’ admissible regions. Based on this, the second algorithm augments the detailed VNF embedding solution according to admissible regions of links. Simulation results show that RapidAC reduces runtime by 90% compared with existing TSN scheduling algorithms.

关键词： Measurement Runtime Scheduling algorithms Service function chaining Heuristic algorithms Simulation Admission control

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Development of AC Voltage Stabilizer with Microcontroller-Based control System

Development of AC Voltage Stabilizer with Microcontroller-Ba...

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International computer Sciences and Information Technologies (CSIT)

作者： Andriy Holovatyy Andrzej Łukaszewicz Vasyl Teslyuk Nazariy Ripak Department of Computer-Aided Design Systems Lviv Polytechnic National University Lviv Ukraine Department of Machinery Design and Operation Faculty of Mechanical Engineering Bialystok University of Technology Bialystok Poland Department of Automated Control Systems Lviv Polytechnic National University Lviv Ukraine

ISBN: (纸本)9798350334326

In the paper, the model and prototype of the AC stabilizer have been developed based on the AVR ATmega328P microcontroller. The block diagram of the device, the electronic circuit and the algorithms of the system operation have been developed. In particular, the algorithm includes software in C in the Arduino IDE. The AC voltage stabilizer is designed using the modular principle, which makes it possible to quickly upgrade. The AC voltage stabilizer makes it possible to maintain the supply voltage on the load within acceptable limits with significant deviations, has the ability to adjust the voltage range of the network to operate the stabilizer, manual adjustment potentiometers.

关键词： Semiconductor device modeling Microcontrollers systems operation Software algorithms Prototypes Software Voltage control

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A Production Model for Calculating Pollutant Concentration Considering the Influence of Precipitation Washout and Dry Deposition

A Production Model for Calculating Pollutant Concentration C...

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International Conference on Management of Large-Scale System Development (MLSD)

作者： Ilia Shnaider Roman Lapkovsky Rosa Urumbaeva Valeria Zhabinskaya Department of Mathematical Cybernetics and Computer Science Saratov State University Saratov Russia Institute of Precision Mechanics and Control Saratov Federal Scientific Centre of the Russian Academy of Sciences Saratov Russia Scientific and design organization “Expert24” Saratov Russia Laboratory of Digital Control Systems in the Agricultural Industry V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

ISBN: (数字)9798350375718

ISBN: (纸本)9798350375725

The article presents the results of developing a mathematical model for computer simulation and study of the processes of atmospheric pollutant dispersion, taking into account various factors, including data on known emission sources, meteorological conditions, and monitoring results of pollutant concentrations at specific points in an industrial area. Gaussian and Ermak models were considered as the basic mathematical models for pollutant dispersion. The developed model has been implemented as a computer program that allows for automated simulation iterations based on actual measurements of the environmental situation and weather conditions in a specified area. Calculations and a comparative assessment of the accuracy of the proposed model were carried out using the program, and conclusions were drawn confirming its effectiveness for simulating pollutant dispersion in the atmosphere.

关键词： Precipitation Atmospheric measurements Atmospheric modeling Biological system modeling Computational modeling Production Mathematical models Pollution measurement Large-scale systems Dispersion

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Data-Driven Reachability Analysis for Piecewise Affine System

arXiv

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arXiv 2025年

作者： Xie, Peng Betz, Johannes Raimondo, Davide M. Alanwar, Amr TUM School of Computation Information and Technology Department of Computer Engineering Technical University of Munich Heilbronn74076 Germany TUM School of Engineering and Design Department of Autonomous Vehicles Systems Technical University of Munich Garching85748 Germany School of Automatic Control Department of Engineering and Architecture University of Trieste Via Valerio 10 Trieste34127 Italy

Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires determining whether system states can enter unsafe regions under given initial conditions and uncertainties—a question directly addressed by reachability analysis. However, hybrid systems present unique difficulties because their state space is divided into multiple regions with distinct dynamic models, causing traditional data-driven methods to produce inadequate over-approximations of reachable sets at region boundaries where dynamics change abruptly. This paper introduces a novel approach using hybrid zonotopes for data-driven reachability analysis of piecewise affine systems. Our method addresses the boundary transition problem by developing computational algorithms that calculate the family of set models guaranteed to contain the true system trajectories. Additionally, we extend and evaluate three methods for set-based estimation that account for input-output data with measurement noise. © 2025, CC BY.

关键词： Convergence of numerical methods

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Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification

Modelling and Simulation of 2 DOF Gimbal System with Experim...

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International Conference on systems and control (ICSC)

作者： Mert Özçelik Burak Kürkçü Zeki Yağız Bayraktaroğlu Control Systems Design Department Aselsan Inc. Ankara Turkey Department of Computer Engineering Hacettepe University Ankara Turkey Department of Mechanical Engineering Istanbul Technical University Istanbul Turkey

ISBN: (数字)9781665465076

ISBN: (纸本)9781665465083

During the past decade, control engineers spent more effort making an interface between the practical applications and the theoretical models. System identification includes methods going from observed data to an accurate mathematical model. A precise mathematical model of the system assists engineers in designing high-performance model-based controllers. In this study, we obtained a detailed mathematical model of a conventional two-axis gimbal system considering the coupling effects of the gimbal axes. Then, we comprehensively compared the experimental data and the simulation results. We constructed the simulation model in MATLAB Simscape Multibody environment. We performed our analysis in both the time domain and frequency domain. The results show that an accurate model can be obtained considering the nonlinear effects of the system.

关键词： Couplings Simulation Frequency-domain analysis control systems Mathematical models System identification Time-domain analysis

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Federated Cubic Regularized Newton Learning with Sparsification-amplified Differential Privacy

arXiv

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arXiv 2024年

作者： Huo, Wei Liu, Changxin Ding, Kemi Johansson, Karl Henrik Shi, Ling Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures StockholmSE-10044 Sweden School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen518055 China

This paper investigates the use of the cubic-regularized Newton method within a federated learning framework while addressing two major concerns that commonly arise in federated learning: privacy leakage and communication bottleneck. We introduce a federated learning algorithm called Differentially Private Federated Cubic Regularized Newton (DP-FCRN). By leveraging second-order techniques, our algorithm achieves lower iteration complexity compared to first-order methods. We also incorporate noise perturbation during local computations to ensure privacy. Furthermore, we employ sparsification in uplink transmission, which not only reduces the communication costs but also amplifies the privacy guarantee. Specifically, this approach reduces the necessary noise intensity without compromising privacy protection. We analyze the convergence properties of our algorithm and establish the privacy guarantee. Finally, we validate the effectiveness of the proposed algorithm through experiments on a benchmark dataset. © 2024, CC BY.

关键词： Federated learning

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