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Path-Complete Barrier Functions for Safety of Switched Linear systems

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Path-Complete Barrier Functions for Safety of Switched Linea...

IEEE Conference on Decision and control

作者： Mahathi Anand Raphaël Jungers Majid Zamani Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Germany Department of Mathematical Engineering Université catholique de Louvain University of Colorado Boulder USA

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we address the safety verification problem of switched linear dynamical systems under arbitrary switching via barrier functions. Our approach is based on a notion of path-complete barrier functions, which utilizes a collection of barrier functions associated with a directed labeled graph that can encode all the possible switching sequences. We show that path-complete barrier functions effectively generalize notions of common and multiple barrier functions studied in existing literature, and can potentially provide less conservative conditions for safety verification. We demonstrate that, for switched linear systems, the inequalities imposed via path-complete barrier functions can be easily encoded into simple linear matrix inequalities under some assumptions on the regions of interest and appropriately chosen templates for the barrier functions. We also study the relationship between path-complete barrier functions and common barrier functions, and show that for any path-complete graph with an admissible path-complete barrier function, one can derive a suitable (possibly non-smooth) common barrier function by utilizing the path-complete barrier function. Finally, we utilize several examples to illustrate the effectiveness of our approach, and briefly discuss the challenges that lay foundations for future research.

关键词： Linear systems Switches control systems Safety Linear matrix inequalities Dynamical systems

Introducing Modelling, Analysis and control of Three-Phase electrical systems Using Geometric Algebra

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arXiv 2023年

作者： Velasco, Manel Zaplana, Isiah Dòria-Cerezo, Arnau Duarte, Josué Martí, Pau The Automatic Control Department Universitat Politècnica de Catalunya Barcelona Spain The Automatic Control Department Inst. of Industrial and Control Engineering Universitat Politècnica de Catalunya Barcelona Spain The Dept. of Electrical Engineering Inst. of Industrial and Control Engineering Universitat Politècnica de Catalunya Barcelona Spain

State-of-the-art techniques for modeling, analysis and control of three-phase electrical systems belong to the real-valued multi-input/multi-output (MIMO) domain, or to the complex-valued nonlinear single-input/single-output (SISO) domain. In order to complement both domains while simplifying complexity and offering new analysis and design perspectives, this paper introduces the application of geometric algebra (GA) principles to the modeling, analysis and control of three-phase electrical systems. The key contribution for the modeling part is the identification of the transformation that allows transferring real-valued linear MIMO systems into GA-valued linear SISO representations (with independence of having a balanced or unbalanced system). Closed-loop stability analysis in the new space is addressed by using intrinsic properties of GA. In addition, a recipe for designing stabilizing and decoupling GA-valued controllers is provided. Numerical examples illustrate key developments and experiments corroborate the main findings. © 2023, CC BY.

关键词： Geometry

Switching Function Analysis of DC-DC Converters under Pontryagin's Maximum Principle 19

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Switching Function Analysis of DC-DC Converters under Pontry...

19th IEEE International Multi-Conference on systems, Signals and Devices, SSD 2022

作者： A-Saif, Abdul-Wahid Al-Ameer, Ali Aldhaifallah, Mujahed Rezk, Hegazy Mohamed, Ahmed Ali A. for Smart Mobility and Logistics Control and Instrumentation Engineering Department Dhahran Saudi Arabia Kfupm Control and Instrumentation Engineering Department Dhahran Saudi Arabia for Renewable Energy and Power Systems Control and Instrumentation Engineering Department Dhahran Saudi Arabia College of Engineering at Wadi Addawaser Prince Sattam Bin Abdulaziz University Al-Kharj Saudi Arabia Grove School of Engineering City College of the City University of New York Department of Electrical Engineering YorkNY10031 United States

ISBN: (数字)9781665471084

ISBN: (纸本)9781665471084

This work derives the closed-form solution of the switching function for a DC-DC buck converter under Pon-tryagin's maximum principle to gain insights into the circuit parameters impact on the converters' dynamic performance. We also analyzed the boost converter switching function under the same principle. Using MatLab/Simulink to simulate typical converters, the results matched our analysis while suggesting that boost converters could achieve time-optimal states transition within a single switching similar to the case of buck converters. © 2022 IEEE.

关键词： MATLAB

How are policy gradient methods affected by the limits of control?

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How are policy gradient methods affected by the limits of co...

IEEE Conference on Decision and control

作者： Ingvar Ziemann Anastasios Tsiamis Henrik Sandberg Nikolai Matni Division of Decision and Control Systems KTH Royal Institute of Technology Automatic Control Laboratory ETH Zurich Department of Electrical and Systems Engineering University of Pennsylvania

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

We study stochastic policy gradient methods from the perspective of control-theoretic limitations. Our main result is that ill-conditioned linear systems in the sense of Doyle inevitably lead to noisy gradient estimates. We also give an example of a class of stable systems in which policy gradient methods suffer from the curse of dimensionality. Finally, we show how our results extend to partially observed systems.

关键词： Linear systems Gradient methods control theory Noise measurement

BIG Hype: Best Intervention in Games via Distributed Hypergradient Descent

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arXiv 2023年

作者： Grontas, Panagiotis D. Belgioioso, Giuseppe Cenedese, Carlo Fochesato, Marta Lygeros, John Dorfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland

Hierarchical decision making problems, such as bilevel programs and Stackelberg games, are attracting increasing interest in both the engineering and machine learning communities. Yet, existing solution methods lack either convergence guarantees or computational efficiency, due to the absence of smoothness and convexity. In this work, we bridge this gap by designing a first-order hypergradient-based algorithm for Stackelberg games and mathematically establishing its convergence using tools from nonsmooth analysis. To evaluate the hypergradient, namely, the gradient of the upper-level objective, we develop an online scheme that simultaneously computes the lower-level equilibrium and its Jacobian. Crucially, this scheme exploits and preserves the original hierarchical and distributed structure of the problem, which renders it scalable and privacypreserving. We numerically verify the computational efficiency and scalability of our algorithm on a large-scale hierarchical demand-response model. Copyright © 2023, The Authors. All rights reserved.

关键词： Computational efficiency

Grid-Forming control of Modular Dynamic Virtual Power Plants

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arXiv 2024年

作者： He, Xiuqiang Duarte, Josué Häberle, Verena Dörfler, Florian Automatic Control Laboratory ETH Zurich Zurich8092 Switzerland Department of Electrical Engineering Escola Universitaria Salesiana de Sarria Barcelona08017 Spain

This article explores a flexible and coordinated control design for an aggregation of heterogeneous distributed energy resources (DERs) in a dynamic virtual power plant (DVPP). The control design aims to provide a desired aggregate grid-forming (GFM) response based on the coordination of power contributions between different DERs. Compared to existing DVPP designs with an AC-coupled AC-output configuration, a more generic modular DVPP design is proposed in this article, which comprises four types of basic DVPP modules, involving AC- or DC-coupling and AC- or DC-output, adequately accommodating diverse DER integration setups, such as AC, DC, AC/DC hybrid microgrids and renewable power plants. The control design is first developed for the four basic modules by the aggregation of DERs and the disaggregation of the control objectives, and then extended to modular DVPPs through a systematic top-down approach. The control performance is comprehensively validated through simulation. The modular DVPP design offers scalable and standardizable advanced grid interfaces (AGIs) for building and operating AC/DC hybrid power grids. © 2024, CC BY.

关键词： Virtual Power Plants

Machine Learning-based OWC Diagnosis Using Real Measured Data from Wave Power Plants

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Machine Learning-based OWC Diagnosis Using Real Measured Dat...

IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： Fares M’Zoughi Jon Lekube Izaskun Garrido Aitor J. Garrido Automatic Control Group - ACG Department of Automatic Control and Systems Engineering Faculty of Engineering of Bilbao - EIB/BIE University of the Basque Country - UPV/EHU Bilbao Spain Biscay Marine Energy Platform BiMEP Armintza Spain

ISBN: (数字)9798350318098

ISBN: (纸本)9798350318104

The present manuscript introduces a classification for power take-off (PTO) diagnosis in Wave Energy Converter (WEC) farms. The suggested strategy has been tested on the Mutriku Multiple Oscillating Water Column-based wave power plant in order to reduce the Levelized Cost of Energy (LCoE) by implementing predictive maintenance strategies. This has been achieved by employing Linear Discriminant Analysis (LDA) to determine the furthermost relevant features from the measured data. Then the Support Vector Machine (SVM) has been implemented as a classification technique to classify the state of the OWC system.

关键词： Support vector machines Vibrations Training Power measurement Wave power Biological system modeling Predictive models

Tutorial on Congestion control in Multi-Area Transmission Grids via Online Feedback Equilibrium Seeking

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arXiv 2023年

作者： Belgioioso, Giuseppe Bolognani, Saverio Pejrani, Giulia Dörfler, Florian Automatic Control Laboratory Department of Electrical Engineering and Information Technology ETH Zurich Physikstrasse 3 Zurich8092 Switzerland

Online feedback optimization (OFO) is an emerging control methodology for real-time optimal steady-state control of complex dynamical systems. This tutorial focuses on the application of OFO for the autonomous operation of large-scale transmission grids, with a specific goal of minimizing renewable generation curtailment and losses while satisfying voltage and current limits. When this control methodology is applied to multi-area transmission grids, where each area independently manages its congestion while being dynamically interconnected with the rest of the grid, a non-cooperative game arises. In this context, OFO must be interpreted as an online feedback equilibrium seeking (FES) scheme. Our analysis incorporates technical tools from game theory and monotone operator theory to evaluate the stability and performance of multi-area grid operation. Through numerical simulations, we illustrate the key challenge of this non-cooperative setting: on the one hand, independent multi-area decisions are suboptimal compared to a centralized control scheme;on the other hand, some areas are heavily penalized by the centralized decision, which may discourage participation in the coordination mechanism. Copyright © 2023, The Authors. All rights reserved.

关键词： Game theory

UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework

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arXiv 2023年

作者： Amer, Abdelhakim Álvarez-Tuñón, Olaya Ugurlu, Halil Ibrahim le Fevre Sejersen, Jonas Brodskiy, Yury Kayacan, Erdal The Department of Electrical Engineering and Computer Engineering Aarhus University Aarhus8200 Denmark EIVA a/s Skanderborg8660 Denmark The Automatic Control Group Department of Electrical Engineering and Information Technology Paderborn University Paderborn Germany

Underwater robotic surveys can be costly due to the complex working environment and the need for various sensor modalities. While underwater simulators are essential, many existing simulators lack sufficient rendering quality, restricting their ability to transfer algorithms from simulation to real-world applications. To address this limitation, we introduce UNav-Sim, which, to the best of our knowledge, is the first simulator to incorporate the efficient, high-detail rendering of Unreal Engine 5 (UE5). UNav-Sim is open-source1 and includes an autonomous vision-based navigation stack. By supporting standard robotics tools like ROS, UNav-Sim enables researchers to develop and test algorithms for underwater environments efficiently. © 2023, CC BY.

关键词： Data visualization