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Efficient STL control Synthesis under Asynchronous Temporal Robustness Constraints

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arXiv 2023年

作者： Yu, Xinyi Yin, Xiang Lindemann, Lars Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China Thomas Lord Department of Computer Science University of Southern California Los AngelesCA90089 United States

In time-critical systems, such as air traffic control systems, it is crucial to design control policies that are robust to timing uncertainty. Recently, the notion of Asynchronous Temporal Robustness (ATR) was proposed to capture the robustness of a system trajectory against individual time shifts in its sub-trajectories. In a multi-robot system, this may correspond to individual robots being delayed or early. control synthesis under ATR constraints is challenging and has not yet been addressed. In this paper, we propose an efficient control synthesis method under ATR constraints which are defined with respect to simple safety or complex signal temporal logic specifications. Given an ATR bound, we compute a sequence of control inputs so that the specification is satisfied by the system as long as each sub-trajectory is shifted not more than the ATR bound. We avoid combinatorially exploring all shifted sub-trajectories by first identifying redundancy between them. We capture this insight by the notion of instant-shift pair sets, and then propose an optimization program that enforces the specification only over the instant-shift pair sets. We show soundness and completeness of our method and analyze its computational complexity. Finally, we present various illustrative case studies. Copyright © 2023, The Authors. All rights reserved.

关键词： Trajectories

Signal Temporal Logic control Synthesis among Uncontrollable Dynamic Agents with Conformal Prediction

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arXiv 2023年

作者： Yu, Xinyi Zhao, Yiqi Yin, Xiang Lindemann, Lars Thomas Lord Department of Computer Science University of Southern California Los AngelesCA90089 United States Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai200240 China

The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents’ a-priori unknown behavior. Existing works have considered the problem where either all agents are controllable, the agent models are deterministic and known, or no safety guarantees are provided. We propose a predictive control synthesis framework that guarantees, with high probability, the satisfaction of signal temporal logic (STL) tasks that are defined over a controllable system in the presence of uncontrollable stochastic agents. We use trajectory predictors and conformal prediction to construct probabilistic prediction regions for each uncontrollable agent that are valid over multiple future time steps. Specifically, we construct a normalized prediction region over all agents and time steps to reduce conservatism and increase data efficiency. We then formulate a worst-case bilevel mixed integer program (MIP) that accounts for all agent realizations within the prediction region to obtain an open-loop controller that provably guarantee task satisfaction with high probability. To efficiently solve this bilevel MIP, we propose an equivalent MIP program based on KKT conditions of the original bilevel formulation. Building upon this, we design a closed-loop controller, where both recursive feasibility and task satisfaction can be guaranteed with high probability. We illustrate our control synthesis framework on two case studies. Copyright © 2023, The Authors. All rights reserved.

关键词： Stochastic systems

Abstraction-Based Verification of Approximate Pre-Opacity for control Systems

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arXiv 2022年

作者： Hou, Junyao Liu, Siyuan Yin, Xiang Zamani, Majid Department of Automation Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University China Department of Electrical and Computer Engineering Technical University of Munich Germany Department of Computer Science LMU Munich Germany Department of Computer Science University of Colorado Boulder United States

In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Preopacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the future. Existing works on pre-opacity only consider non-metric discrete systems, where it is assumed that intruders can distinguish different output behaviors precisely. However, for continuous-space control systems whose output sets are equipped with metrics (which is the case for most real-world applications), it is too restrictive to assume precise measurements from outside observers. In this paper, we first introduce a concept of approximate pre-opacity by capturing the security level of control systems with respect to the measurement precision of the intruder. Based on this new notion of pre-opacity, we propose a verification approach for continuous-space control systems by leveraging abstraction-based techniques. In particular, a new concept of approximate pre-opacity preserving simulation relation is introduced to characterize the distance between two systems in terms of preserving pre-opacity. This new system relation allows us to verify pre-opacity of complex continuous-space control systems using their finite abstractions. We also present a method to construct pre-opacity preserving finite abstractions for a class of discrete-time control systems under certain stability assumptions. Copyright © 2022, The Authors. All rights reserved.

关键词： Opacity

A LEARNING SYSTEM FOR MOTION PLANNING OF FREE-FLOAT DUAL-ARM SPACE MANIPULATOR TOWARDS NON-COOPERATIVE OBJECT

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arXiv 2022年

作者： Wang, Shengjie Cao, Yuxue Zheng, Xiang Zhang, Tao Department of Automation Tsinghua University Beijing China Beijing Institute of Control Engineering Beijing China Department of Computer Science City University of Hong Kong Hong Kong

Recent years have seen the emergence of non-cooperative objects in space, like failed satellites and space junk. These objects are usually operated or collected by free-float dual-arm space manipulators. Thanks to eliminating the difficulties of modeling and manual parameter-tuning, reinforcement learning (RL) methods have shown a more promising sign in the trajectory planning of space manipulators. Although previous studies demonstrate their effectiveness, they cannot be applied in tracking dynamic targets with unknown rotation (non-cooperative objects). In this paper, we proposed a learning system for motion planning of free-float dual-arm space manipulator (FFDASM) towards non-cooperative objects. Specifically, our method consists of two modules. Module I realizes the multi-target trajectory planning for two end-effectors within a large target space. Next, Module II takes as input the point clouds of the non-cooperative object to estimate the motional property, and then can predict the position of target points on an non-cooperative object. We leveraged the combination of Module I and Module II to track target points on a spinning object with unknown regularity successfully. Furthermore, the experiments also demonstrate the scalability and generalization of our learning system. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

Error Dynamics in Affine Group Systems

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arXiv 2023年

作者： Li, Xinghan Chen, Jianqi Zhang, Han Wei, Jieqiang Wu, Junfeng The College of Control Science and Engineering Zhejiang University Hangzhou China The Department of Electronic and Computer Engineering HKUST Hong Kong Department of Automation Shanghai Jiao Tong University Shanghai China Ericsson Torshamnsgatan 21 16440 Sweden The School of Data Science CUHKShenzhen Shenzhen China

Error dynamics captures the evolution of the state errors between two distinct trajectories that are governed by the same system rule but initiated or perturbed differently. It is essential to analyze the error behaviour of a state observer in a matrix Lie group for precise estimations. This paper concentrates on the examination of the error dynamics in affine group systems when exposed to external disturbances or random noises. To this end, we first discuss the connections between the notions of affine group systems and linear group systems. We characterize linear group systems by homeomorphism of its transition flow and linearity of its Lie algebra. Next, we explore linear group systems that are spread by a Brownian motion in tangent spaces. We discover that the itô stochastic differential equation in the Lie algebra space has a linear drift component and an additional "pinning" term. We apply these findings in analyzing the error dynamics, a specific linear group system, with smooth disturbances and stochastic noise. The error dynamics can be in the form of the Lie group and the Lie algebra. An explicit and accurate derivation of error dynamics is provided for the concrete example SE2(3), which plays a vital role, especially in inertial-based navigation. Copyright © 2023, The Authors. All rights reserved.

关键词： Brownian movement

OA-ECBVC: A Cooperative Collision-Free Encirclement and Capture Approach in Cluttered Environments

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OA-ECBVC: A Cooperative Collision-Free Encirclement and Capt...

IEEE Conference on Decision and control

作者： Xinyi Wang Yulong Ding Yizhou Chen Ruihua Han Lele Xi Ben M. Chen Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Department of Control Science and Engineering Tongji University Shanghai China Ministry of Education Frontiers Science Center for Intelligent Autonomous Systems China Department of Computer Science The University of Hong Kong Hong Kong China Hebei University of Science and Technology Shijiazhuang China

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the evader by reacting to collisions. An efficient approach is presented for constructing an obstacle-aware evader-centered bounded Voronoi cell (OA-ECBVC), which strictly ensures collision avoidance in various obstacle scenarios when pursuing the evader. The evader can be efficiently enclosed in a convex hull given random initial configurations. Furthermore, to cooperatively capture the evader, each pursuer continually compresses the boundary of its OA-ECBVC to quickly reduce the movement space of the evader while maintaining encirclement. Our OA-ECBVC algorithm is validated in various simulated environments with different dynamic systems of robots. Real-time performance of resisting uncertainties shows the superior reliability of our method for deployment on multiple robot platforms.

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Technological Machines Diagnostics of Grain Processing Enterprises as the Object of automation

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Technological Machines Diagnostics of Grain Processing Enter...

Automatics and Informatics (ICAI), International Conference

作者： Palvan I. Kalandarov Shakhnoza R. Ubaydullayeva Nikola N. Nikolov Aziz Hayitov Husen Sharifov Department “Automation and control of technology process in production” «Tashkent institute of irrigation and agricultural mechanization engineers» National Research University Tashkent Uzbekistan Department of Automation Faculty of Computer Science and Automation Technical University of Varna Varna Bulgaria Bukhara Institute of Natural Resource Management of the National Research University «Tashkent Institute of Irrigation and Agricultural Mechanization institute» Tashkent Uzbekistan

The article gives the basic concepts of reliability, performance, durability, considers the issues of changing the technical state of the machine during operation. The models under consideration have the ability to introduce various perturbations in order to simulate physical defects, and numerical simulation on a computer made it possible to obtain solutions in the form of temporary realizations of oscillations for different states of the simulation object. The cooperative use of the full-scale method and mathematical modeling made it possible to reduce the volume of full-scale experiments and apply statistical methods of analysis in the problem of classifying the technical condition by constructing mathematical models of the probability of failure and uptime during their operating time. The content of the main types of machine states is revealed, considerable attention is paid to the issues of identifying and influencing failures and the causes of failures in the machine, the reasons for the loss of performance during operation.

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Multiplayer Homicidal Chauffeur Reach-Avoid Games: A Pursuit Enclosure Function Approach

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arXiv 2023年

作者： Yan, Rui Duan, Xiaoming Zou, Rui He, Xin Shi, Zongying Bullo, Francesco Department of Computer Science University of Oxford OxfordOX1 3QD United Kingdom Department of Automation Tsinghua University Beijing100084 China Department of Automation Shanghai Jiao Tong University Shanghai200240 China Center of Control Dynamical Systems and Computation University of California Santa Barbara United States

This paper presents a multiplayer Homicidal Chauffeur reach-avoid differential game, which involves Dubins-car pursuers and simple-motion evaders. The goal of the pursuers is to cooperatively protect a planar convex region from the evaders, who strive to reach the region. We propose a cooperative strategy for the pursuers based on subgames for multiple pursuers against one evader and optimal task allocation. We introduce pursuit enclosure functions (PEFs) and propose a new enclosure region pursuit (ERP) winning approach that supports the forward analysis for the strategy synthesis in the subgames. We show that if a pursuit coalition is able to defend the region against an evader under the ERP winning, then no more than two pursuers in the coalition are necessarily needed. We also propose a steer-to-ERP approach to certify the ERP winning and synthesize the ERP winning strategy. To implement the strategy, we introduce a positional PEF and provide the necessary parameters, states, and strategies that ensure the ERP winning for both one pursuer and two pursuers against one evader. Additionally, we formulate a binary integer program using the subgame outcomes to maximize the captured evaders in the ERP winning for the pursuit task allocation. Finally, we propose a multiplayer receding-horizon strategy where the ERP winnings are checked in each horizon, the task is allocated, and the strategies of the pursuers are determined. Numerical examples are provided to illustrate the results. © 2023, CC BY.

关键词： Enclosures

On Solar Photovoltaic Parameter Estimation: Global Optimality Analysis and a Simple Efficient Differential Evolution Method

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On Solar Photovoltaic Parameter Estimation: Global Optimalit...

IEEE Conference on Decision and control

作者： Shuhua Gao Cheng Xiang Ming Yu Kuan Tak Tan Tong Heng Lee School of Control Science and Engineering Shandong University Jinan China Department of Electrical and Computer Engineering National University of Singapore Singapore Power Automation Pte Ltd Singapore Engineering Cluster Singapore Institute of Technology Singapore

The literature presents a vast array of advanced metaheuristic methods for photovoltaic parameter estimation. However, the focus of this study is not to introduce another new method into this already crowded field. Instead, we examine two important but often overlooked questions: (i) are existing results globally optimal, and (ii) can a simpler method achieve comparable performance. We conduct case studies using two widely used I-V curve datasets. To address the first issue, we develop a branch and bound algorithm that, despite its sluggishness, either certifies the global minimum or provides a tight upper bound. These values serve as useful benchmarks for fair metaheuristic evaluation and further development. To answer the second question, our extensive examination and comparison surprisingly reveal that a basic differential evolution (DE) algorithm can achieve the certified global minimum or obtain the best known result. Additionally, the DE algorithm's runtime is much shorter than that of current state-of-the-art metaheuristic methods, making it a great choice for time-sensitive applications. This remarkable finding suggests that using increasingly complex metaheuristics in ordinary PV parameter estimation problems might be unnecessary. Finally, we discuss the implications of these outcomes and propose the simple DE method as the premier choice for industrial applications.

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