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Data-Driven Estimation of Structured Singular Values

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arXiv 2025年

作者： Guerrero, Margarita A. Lakshminarayanan, Braghadeesh Rojas, Cristian R. Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm100 44 Sweden

Estimating the size of the modeling error is crucial for robust control. Over the years, numerous metrics have been developed to quantify the model error in a control relevant manner. One of the most important such metrics is the structured singular value, as it leads to necessary and sufficient conditions for ensuring stability and robustness in feedback control under structured model uncertainty. Although the computation of the structured singular value is often intractable, lower and upper bounds for it can often be obtained if a model of the system is known. In this paper, we introduce a fully data-driven method to estimate a lower bound for the structured singular value, by conducting experiments on the system and applying power iterations to the collected data. Our numerical simulations demonstrate that this method effectively lower bounds the structured singular value, yielding results comparable to those obtained using the Robust control toolbox of MATLAB. © 2025, CC BY.

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Fine Tuning a Data-Driven Estimator

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arXiv 2025年

作者： Lakshminarayanan, Braghadeesh Rojas, Cristian R. Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm100 44 Sweden

In recent years, many industries have developed high-fidelity simulators, such as digital twins, to represent physical systems, although their parameters must be calibrated to accurately reflect the true system. This need has paved the way for the creation of data-driven parameter estimators to calibrate such simulators. These estimators are constructed by generating synthetic observations for various parameter settings of the simulator and then establishing a mapping from these observations to the corresponding parameter settings using supervised learning. However, if the true system’s parameters fall outside the range of the sampled parameter set used to construct the mapping, the resulting predictions will suffer from out-of-distribution (OOD) issues. In this paper, we introduce a fine-tuning approach for a specific data-driven estimator, known as the Two-Stage estimator, designed to mitigate the problems associated with OOD and improve its accuracy. © 2025, CC BY.

关键词： Self-supervised learning

Prioritized Planning for Continuous-time Lifelong Multi-agent Pathfinding

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arXiv 2025年

作者： Combrink, Alvin Roselli, Sabino Francesco Fabian, Martin Division of Systems and Control Department of Electrical Engineering Chalmers University of Technology Göteborg Sweden

Multi-agent Path Finding (MAPF) is the problem of planning collision-free movements of agents such that they get from where they are to where they need to be. Commonly, agents are located on a graph and can traverse edges. This problem has many variations and has been studied for decades. Two such variations are the continuous-time and the lifelong MAPF problems. In the continuous-time MAPF problem, edges can have non-unit lengths and agents can traverse them at any real-valued time. Additionally, agent volumes are often included. In the lifelong MAPF problem, agents must attend to a continuous stream of incoming tasks. Much work has been devoted to designing solution methods within these two areas. However, to our knowledge, the combined problem of continuous-time lifelong MAPF has yet to be addressed. This work addresses continuous-time lifelong MAPF with agent volumes by presenting the fast and sub-optimal Continuous-time Prioritized Lifelong Planner (CPLP). CPLP continuously re-prioritizes tasks, assigns agents to them, and computes agent plans using a combination of two path planners;one based on CCBS and the other on SIPP. Experimental results with up to 400 agents on graphs with 4000 vertices demonstrate average computation times below 20 ms per call. In online settings where available time to compute plans is limited, CPLP ensures collision-free movement even when failing to meet these time limits. Therefore, the robustness of CPLP highlights its potential for real-world applications. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

Sequential Binary Hypothesis Testing with Competing Agents under Information Asymmetry

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arXiv 2025年

作者： Raghavan, Aneesh Niazi, M. Umar B. Johansson, Karl H. Division of Decision and Control Systems KTH Royal Institute of Technology StockholmSE-100 44 Sweden

This paper concerns sequential hypothesis testing in competitive multi-agent systems where agents exchange potentially manipulated information. Specifically, a two-agent scenario is studied where each agent aims to correctly infer the true state of nature while optimizing decision speed and accuracy. At each iteration, agents collect private observations, update their beliefs, and share (possibly corrupted) belief signals with their counterparts before deciding whether to stop and declare a state, or continue gathering more information. The analysis yields three main results: (1) when agents share information strategically, the optimal signaling policy involves equal-probability randomization between truthful and inverted beliefs;(2) agents maximize performance by relying solely on their own observations for belief updating while using received information only to anticipate their counterpart’s stopping decision;and (3) the agent reaching their confidence threshold first cause the other agent to achieve a higher conditional probability of error. Numerical simulations further demonstrate that agents with higher KL divergence in their conditional distributions gain competitive advantage. Furthermore, our results establish that information sharing—despite strategic manipulation—reduces overall system stopping time compared to non-interactive scenarios, which highlights the inherent value of communication even in this competitive setup. © 2025, CC BY.

关键词： Information dissemination

Green Routing Game: Pollution-Aware Mixed Fleet Logistics with Shared Charging Facilities

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IEEE Transactions on Automatic control 2025年

作者： Sasahara, Hampei Dan, Gyorgy Amin, Saurabh Sandberg, Henrik Institute of Science Tokyo Department of Systems and Control Engineering Tokyo152-8552 Japan KTH Royal Institute of Technology Division of Network and Systems Engineering StockholmSE-100 44 Sweden Massachusetts Institute of Technology Laboratory of Information and Decision Systems CambridgeMA02139 United States KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

Eco-friendly freight operations are crucial for decarbonizing the transportation sector. Systematic analysis of policy measures requires a principled modeling approach. While the commonly used model referred to as routing game considers the congestible nature of transportation facilities, exiting models fail to account for environmental factors. This paper aims at providing a mathematical framework to study strategic interaction between owners of mixed fleets comprising of both internal combustion engine vehicle (ICEV) and electric vehicle (EV) trucks. This study introduces a "green"routing game with incomplete information that models strategic interaction among multiple logistic operators. These players face a pollution tax imposed on ICEVs and a potential delayed delivery cost due to EV charging requirements with uncertainty. In contrast to existing models, this novel model captures the players' trade-off between lengthier congestion delay at charging stations as the share of EV trucks increases and higher pollution costs with increased ICEVs usage, with uncertainty determined by a latent state. We first provide equilibrium characterization and present a condition for essential uniqueness. We show that this equilibrium can be computed in a distributed manner using a gradient projection method. We then introduce a public information system that broadcasts real-time information about the latent state. Importantly, we analyze value of information for providing a condition for the public information to be beneficial. Finally, we present numerical examples to illustrate settings where environmental taxation and information dissemination can improve social welfare. © 1963-2012 IEEE.

关键词： Trucks

Accuracy and Robustness of Weight-Balancing Methods for Training PINNs

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arXiv 2025年

作者： Barreau, Matthieu Shen, Haoming Digital Futures Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm100 44 Sweden

Physics-Informed Neural Networks (PINNs) have emerged as powerful tools for integrating physics-based models with data by minimizing both data and physics losses. However, this multi-objective optimization problem is notoriously challenging, with some benchmark problems leading to unfeasible solutions. To address these issues, various strategies have been proposed, including adaptive weight adjustments in the loss function. In this work, we introduce clear definitions of accuracy and robustness in the context of PINNs and propose a novel training algorithm based on the Primal-Dual (PD) optimization framework. Our approach enhances the robustness of PINNs while maintaining comparable performance to existing weight-balancing methods. Numerical experiments demonstrate that the PD method consistently achieves reliable solutions across all investigated cases, even in the low-data regime, and can be easily implemented, facilitating its practical adoption. The code is available on GitHub. Copyright © 2025, The Authors. All rights reserved.

关键词： Multiobjective optimization

Safe platooning control of connected and autonomous vehicles on curved multi-lane roads

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arXiv 2025年

作者： Chen, Xiao Tang, Zhiqi Johansson, Karl H. Mårtensson, Jonas Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct parts: a lateral control law that ensures a geometrical convergence towards the reference path regardless of the translational velocity, and a longitudinal control design for each vehicle to achieve the desired relative arc length and velocity with respect to its neighboring vehicle. The second novelty is exploiting the constructive barrier feedback as an additive term to the nominal tracking control, ensuring both lateral and longitudinal collision avoidance. This constructive barrier feedback acts as a dissipative term, slowing down the relative velocity toward obstacles without affecting the nominal controller’s performance. Consequently, our proposed control method enables safe platoon formation of vehicles on curved multi-lane roads, with theoretical guarantees for safety invariance and stability analysis. Simulation and experimental results on connected vehicles are provided to further validate the effectiveness of the proposed method. Copyright © 2025, The Authors. All rights reserved.

关键词： Feedback

Study on the frequencies of natural oscillations of car transporter wagon

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Noise and Vibration Worldwide 2025年第1-2期56卷 5-24页

作者： Muradian, Leontii Shvets, Anzhelika Nikitenko, Anatolii Shvets, Angela Department of Wagons and Wagon Facilities Ukrainian State University of Science and Technologies Dnipro Ukraine Division of Traction and Electrical Power Economics Electrical Power Engineering Institute Warsaw University of Technology Warsaw Poland Department of Engineering and Design Specialized Department Microprocessor-Based Control Systems and Safety in the Railway Transport Ukrainian State University of Science and Technologies Dnipro Ukraine

The development of new products and services allows railway transport to constantly increase the fleet of specialised wagons, which, in comparison with the universal rolling stock, have the best technical and economic indicators. A significant part of cars is delivered by railways, and it is economically reasonable to transport them on a specialised rolling stock. In this regard, the development of a methodology for refined theoretical studies of the strength of bodies of a double-deck rolling stock for passenger cars transportation, the choice of appropriate design schemes and parameters of the bodies, the analysis of the frequencies and forms of their natural oscillations, taking into account the finite stiffness of the elements, are urgent research tasks. The research uses the methods of structural mechanics of rod systems, the applied theory of elasticity, and discrete masses. A wide range of frequencies and forms of the natural free oscillations was obtained using the discrete mass method for a structural scheme with load transfer from the upper to the lower level of the wagon with the help of four racks. The applied methodology of theoretical determination of frequencies and forms of the natural free oscillations of the car transporter wagon by the method of discrete masses is effective. It allows for the estimation of the dynamic characteristics of the wagon. © The Author(s) 2024.

关键词： Bending oscillations twisting oscillations bouncing oscillations car transporter wagon double-deck rolling stock final rigidity of elements

controller Synthesis of Collaborative Signal Temporal Logic Tasks for Multi-Agent systems via Assume-Guarantee Contracts

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IEEE Transactions on Automatic control 2025年

作者： Liu, Siyuan Saoud, Adnane Dimarogonas, Dimos V. KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden University Mohammed VI Polytechnic College of Computing Benguerir Morocco

This paper considers the problem of controller synthesis of a fragment of signal temporal logic (STL) specifications for large-scale multi-agent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as assume-guarantee contracts by leveraging the idea of prescribed performance control. The concept of contracts is used to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the multi-agent system when all agents satisfy their local contracts. Then, a closed-form continuous-time feedback controller is designed to enforce local contracts over the agents in a distributed manner, which further guarantees global task satisfaction based on the compositionality result. The effectiveness of our results is demonstrated by two numerical examples. © 1963-2012 IEEE.

关键词： Continuous time systems