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Identifiability and Solvability in Inverse Linear Quadratic Optimal control Problems

Journal of systems Science & Complexity 2021年第5期34卷 1840-1857页

作者： LI Yibei WAHLBERG Bo HU Xiaoming Optimization and Systems Theory Department of MathematicsKTH Royal Institute of TechnologySE-10044StockholmSweden Division of Decision and Control School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologySE-10044StockholmSweden

In this paper, the inverse linear quadratic(LQ) problem over finite time-horizon is *** the output observations of a dynamic process, the goal is to recover the corresponding LQ cost function. Firstly, by considering the inverse problem as an identification problem, its model structure is shown to be strictly globally identifiable under the assumption of system invertibility. Next, in the noiseless case a necessary and sufficient condition is proposed for the solvability of a positive semidefinite weighting matrix and its unique solution is obtained with two proposed algorithms under the condition of persistent excitation. Furthermore, a residual optimization problem is also formulated to solve a best-fit approximate cost function from sub-optimal observations. Finally, numerical simulations are used to demonstrate the effectiveness of the proposed methods.

关键词： Inverse optimal control linear quadratic regulators model identifiability

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Feasibility Evaluation of Quadratic Programs for Constrained control

arXiv

引用

arXiv 2025年

作者： Rousseas, Panagiotis Panagou, Dimitra Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Robotics Department of Aerospace Engineering University of Michigan MI United States

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic Programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear Program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers. © 2025, CC BY.

关键词： Quadratic programming

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Online Conflict-Free Scheduling of Fleets of Autonomous Mobile Robots

Online Conflict-Free Scheduling of Fleets of Autonomous Mobi...

引用

IEEE International Conference on Automation Science and engineering (CASE)

作者： Francesco Popolizio Martina Vinetti Alvin Combrink Sabino Francesco Roselli Maria Pia Fanti Martin Fabian Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Göteborg Sweden Department of Electrical and Information Engineering Polytechnic of Bari Bari Italy

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

This work presents a Fleet Manager for a fleet of Autonomous Mobile Robots (AMRs) that perform material handling tasks in a shared environment. The Fleet Manager assigns AMRs to newly released tasks, computes paths for them to travel to the task’s locations, and schedules their travel along the computed paths so that conflicts with other AMRs are avoided. The objective is for each AMR to complete its task as quickly as possible, to then be assigned a new *** Fleet Manager works online, assigning a released task to the AMR closest to the task’s location, and then computing the path and schedule to fit in with the already assigned and executing AMRs. Conflicts occur when, in order to reach their targets, AMRs would have to simultaneously occupy the same space. Resolving this is done by appropriate scheduling, or by moving idle AMRs out of the way. For fleet management to be practicable, the computation time for assigning an AMR to a task and computing its path and schedule must be negligible compared to other system *** were conducted to evaluate the performance of the Fleet Manager on a number of benchmark problem instances, counting up to hundreds of AMRs. The results show that the presented Fleet Manager can handle these systems quickly enough to be practically useful in real industrial scenarios.

关键词： Schedules Job shop scheduling Processor scheduling Benchmark testing Throughput Real-time systems Path planning Mobile robots Optimization Autonomous robots

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Low-Complexity control for a Class of Uncertain MIMO Nonlinear systems under Generalized Time-Varying Output Constraints

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IEEE Transactions on Automatic control 2024年第7期70卷 4270-4285页

作者： Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Computer Science University of Southern California Los AngelesCA United States The Department of Electrical and Computer Engineering University of Patras Patra Greece

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints are always decoupled and feasible, our approach can handle coupled time-varying constraints even in the presence of potential infeasibilities. First, it is shown that satisfying multiple constraints essentially boils down to ensuring the positivity of a scalar variable, representing the signed distance from the boundary of the time-varying output-constrained set. To achieve this, a single consolidating constraint is designed that, when satisfied, guarantees convergence to and invariance of the time-varying output-constrained set within a user-defined finite time. Next, a novel robust and low-complexity feedback controller is proposed to ensure the satisfaction of the consolidating constraint. Additionally, we provide a mechanism for online modification of the consolidating constraint to find a least violating solution when the constraints become mutually infeasible for some time. Finally, a simulation study validates the proposed approach. ©1963-2012 IEEE.

关键词： MIMO systems

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Net Load Forecasting with Disaggregated Behind-the-Meter PV Generation

Net Load Forecasting with Disaggregated Behind-the-Meter PV ...

引用

2022 IEEE Industry Applications Society Annual Meeting, IAS 2022

作者： Stratman, Anne Hong, Tianqi Yi, Ming Zhao, Dongbo University of Nebraska-Lincoln Department of Electrical and Computer Engineering LincolnNE United States Argonne National Lab Energy Systems Division LemontIL United States Rensselaer Polytechnic Institute Department of Electrical Computer and Systems Engineering TroyNY United States

ISBN: (数字)9781665478151

ISBN: (纸本)9781665478151

With increasing adoption of residential PV systems, net load forecasting is gradually shifting from forecasting pure load to forecasting pure load with PV generation. This paper explicitly compares two methods of net load forecasting for systems with high behind-the-meter (BTM) PV penetration. The first method is an additive method, in which PV generation and pure load are forecasted separately and combined to produce a net load forecast. First, a disaggregation algorithm is applied to aggregate net load measurements of residential homes to separate the pure load and PV generation. Then, a long short-term memory (LSTM) model is used to forecast pure load and PV separately using the historical disaggregated pure load and PV, respectively, and weather factors. The results are combined to generate a net load forecast. The additive model is compared to a direct net load forecast from an LSTM model. Results show that over the five-month test horizon, the additive method decreases the root mean square error (RMSE), maximum absolute error, and mean absolute error (MAE) of the net load forecast by 6.13%, 3.63%, and 6.06% respectively, compared to the direct method. © 2022 IEEE.

关键词： Errors

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Bayesian hypergame approach to equilibrium stability and robustness in moving target defense 63

Bayesian hypergame approach to equilibrium stability and rob...

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Zhang, Hanzheng Cheng, Zhaoyang Chen, Guanpu Johansson, Karl Henrik Shanghai Research Institute for Autonomous Intelligent Systems Tongji University Shanghai China University of Chinese Academy of Science Academy of Mathematics and System Science Chinese Academy of Science Beijing China Kth Royal Institute of Technology and the Digital Futures Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm Sweden

ISBN: (纸本)9798350316339

We investigate the equilibrium stability and robustness in a class of moving target defense problems, in which players have both incomplete information and asymmetric cognition. We first establish a Bayesian Stackelberg game model for incomplete information and then employ a hypergame reformulation to address asymmetric cognition. With the core concept of the hyper Bayesian Nash equilibrium (HBNE), a condition for achieving both the strategic and cognitive stability in equilibria can be realized by solving linear equations. Moreover, to deal with players' underlying perturbed knowledge, we study the equilibrium robustness by presenting a condition of robust HBNE under the given configuration. Experiments evaluate our theoretical results. © 2024 IEEE.

关键词： Hierarchical systems

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Towards a Compact Monolithic Integrated Laser Platform on SiN: Deep-groove-assisted Bends

Towards a Compact Monolithic Integrated Laser Platform on Si...

引用

2024 IEEE Photonics Conference, IPC 2024

作者： Zhang, Ziyao Skandalos, Ilias Ma, Rui Chen, Minjia Zhong, Chuan Gardes, Frederic Cheng, Qixiang Penty, Richard University of Cambridge Centre for Photonic Systems Electrical Engineering Division Department of Engineering CambridgeCB3 0FA United Kingdom University of Southampton Optoelectronics Research Centre SouthamptonSO17 1BJ United Kingdom Princeton University Electrical and Computer Engineering PrincetonNJ08544 United States

We demonstrate a novel bending structure on silicon nitride towards a monolithically integrated laser platform. This bending structure has a deep etched groove along the outer side, and can greatly reduce the footprin... 详细信息

ISBN: (纸本)9798350361957

关键词： Silicon nitride

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Temporal Logic Specification-Conditioned Decision Transformer for Offline Safe Reinforcement Learning

arXiv

引用

arXiv 2024年

作者： Guo, Zijian Zhou, Weichao Li, Wenchao Division of Systems Engineering Boston University United States Department of Electrical and Computer Engineering Boston Uni- United States

Offline safe reinforcement learning (RL) aims to train a constraint satisfaction policy from a fixed dataset. Current state-of-the-art approaches are based on supervised learning with a conditioned policy. However, these approaches fall short in real-world applications that involve complex tasks with rich temporal and logical structures. In this paper, we propose temporal logic Specification-conditioned Decision Transformer (SDT), a novel framework that harnesses the expressive power of signal temporal logic (STL) to specify complex temporal rules that an agent should follow and the sequential modeling capability of Decision Transformer (DT). Empirical evaluations on the DSRL benchmarks demonstrate the better capacity of SDT in learning safe and high-reward policies compared with existing approaches. In addition, SDT shows good alignment with respect to different desired degrees of satisfaction of the STL specification that it is conditioned on. © 2024, CC BY.

关键词： Self-supervised learning

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Quantum–classical co-simulation for smart grids: a proof-of-concept study on feasibility and obstacles

引用

Energy Informatics 2023年第1期6卷 25页

作者： Vereno, Dominik Khodaei, Amin Neureiter, Christian Lehnhoff, Sebastian Josef Ressel Centre for Dependable System-of-Systems Engineering Urstein Süd 1 Puch/Salzburg5412 Austria Electrical and Computer Engineering Department University of Denver 2155 E Wesley Ave DenverCO80208 United States R &D Division Energy OFFIS Escherweg 2 Oldenburg26121 Germany

With the rising complexity of our electricity infrastructure, smart grid simulations increasingly rely on co-simulation, which involves jointly executing independent subsystem simulations. However, in large-scale simulation scenarios, such as those involving costly power-flow analysis, co-simulation may experience computational-performance issues. Quantum computing offers a potential solution through quantum–classical co-simulation, in which one or more simulators of an otherwise classical co-simulation are executed on quantum hardware. However, there is no practical realization of this concept that establishes its feasibility. To address this gap, we integrate a quantum power flow simulator with a smart grid co-simulation and conduct an exploratory simulation study using a fictitious case-study scenario. The experiments demonstrate the feasibility of quantum–classical co-simulation;at the same time, they highlight four obstacles to the concept’s realization in practice: (1) To use quantum computing for co-simulation, session-based scheduling is required. (2) Distributed simulation limits possible applications and requires proximity of computing resources. (3) For the efficient extraction of classical information from the quantum states, we need carefully designed operators. (4) Current hardware limitations—such as noise susceptibility and the lack of quantum random access memory—limit practical near-term uses of quantum power flow;therefore, attention should be turned to alternative applications that are more promising in the near term. These findings pave the way for future research on quantum–classical co-simulation and its potential applications in smart grids. © 2023, The Author(s).

关键词： Smart power grids

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Emulation Learning for Neuromimetic systems

Emulation Learning for Neuromimetic Systems

引用

IEEE Conference on Decision and control

作者： Zexin Sun John Baillieul Division of Systems Engineering Boston University Department of Mechanical Engineering Electrical and Computer Engineering Division of Systems Engineering Boston University Boston MA

Building on our recent research on neural heuristic quantization systems, results on learning quantized motions and resilience to channel dropouts are reported. We propose a general emulation problem consistent with the neuromimetic paradigm. This optimal quantization problem can be solved by model predictive control (MPC), but because the optimization step involves integer programming, the approach suffers from combinatorial complexity when the number of input channels becomes large. Even if we collect data to train a neural network, collection of training data and the training itself are still time-consuming. Therefore, we propose a general Deep Q Network (DQN) algorithm that not only learns trajectories but also exhibits the advantages of resilience to channel dropout. Furthermore, to transfer the model to other emulation problems, a mapping-based transfer learning approach can be used directly on the current model to obtain the optimal trajectory steps for the new emulation problems.

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