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arXiv 2023年

作者： Liu, Wenjie Sun, Jian Wang, Gang Bullo, Francesco Chen, Jie The National Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing100081 China The Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China The Mechanical Engineering Department The Center of Control Dynamical Systems and Computation UC Santa Barbara CA93106-5070 United States The Department of Control Science and Engineering Tongji University Shanghai201804 China The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China

This paper addresses the joint state estimation and control problems for unknown linear time-invariant systems subject to both process and measurement noise. The aim is to redesign the linear quadratic Gaussian (LQG) controller based solely on data. The LQG controller comprises a linear quadratic regulator (LQR) and a steady-state Kalman observer;while the data-based LQR design problem has been previously studied, constructing the Kalman gain and the LQG controller from noisy data presents a novel challenge. In this work, a data-based formulation for computing the steady-state Kalman gain is proposed based on semi-definite programming (SDP) using some noise-free input-state-output data. Additionally, a data-based LQG controller is developed, which is shown to be equivalent to the model-based LQG controller. For cases where offline data are corrupted by noise, a robust data-based observer gain is constructed by tackling a relaxed SDP. The proposed controllers are proven to achieve robust global exponential stability (RGES) for state estimation and input-to-state practical stability (ISpS) under standard conditions. Finally, numerical tests are conducted to validate the proposed controllers' correctness and effectiveness. © 2023, CC BY.

关键词： Linear time-invariant system

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Shared Situational Awareness with V2X Communication and Set-membership Estimation

Shared Situational Awareness with V2X Communication and Set-...

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International Conference on Intelligent Transportation

作者： Vandana Narri Amr Alanwar Jonas Mårtensson Christoffer Norén Karl Henrik Johansson Research and Development Scania CV AB Södertälje Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden School of Computation Information and Technology Technical University of Munich Heilbronn Germany School of Computer Science and Engineering Constructor University Bremen Germany

The ability to perceive and comprehend a traffic situation and to estimate the state of the vehicles and road-users in the surrounding of the ego-vehicle is known as situational awareness. Situational awareness for a heavy-duty autonomous vehicle is a critical part of the automation platform and depends on the ego-vehicle's field-of-view. But when it comes to the urban scenarios, the field-of-view of the ego-vehicle is likely to be affected by occlusions and blind spots caused by infrastructure, moving vehicles, and parked vehicles. This paper proposes a framework to improve situational awareness using set-membership estimation and Vehicle-to-Everything (V2X) communication. This framework provides safety guarantees and can adapt to dynamically changing scenarios, and is integrated into an existing complex autonomous platform. A detailed description of the framework implementation and realtime results are illustrated in this paper.

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Corrigendum to “Advanced predictive control for GRU and LSTM networks” [Inf. Sci. 616 (2022) 229–254]

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Information Sciences 2025年 707卷

作者： Krzysztof Zarzycki Maciej Ławryńczuk Warsaw University of Technology Institute of Control and Computation Engineering ul. Nowowiejska 15/19 00-665 Warsaw Poland

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PDMATLAB2D: A Peridynamics MATLAB Two-dimensional Code

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Journal of Peridynamics and Nonlocal Modeling 2024年第1期6卷 149-205页

作者： Seleson, Pablo Pasetto, Marco John, Yohan Trageser, Jeremy Reeve, Samuel Temple Computer Science and Mathematics Division Oak Ridge National Laboratory P.O. Box 2008 MS-6013 Oak Ridge 37831-6013 TN United States Department of Mechanical and Aerospace Engineering University of California San Diego 9500 Gilman Drive La Jolla 92093 CA United States George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology 801 Ferst Dr Atlanta 30332 GA United States Center for Control Dynamical Systems and Computation University of California at Santa Barbara Harold Frank Hall Room 5119 Santa Barbara 93106 CA United States Engineering Sciences Center Sandia National Laboratories P.O. Box 5800 MS-1322 Albuquerque 87185-1322 NM United States Computational Sciences and Engineering Division Oak Ridge National Laboratory P.O. Box 2008 MS-6085 Oak Ridge 37831-6085 TN United States

PDMATLAB2D is a meshfree peridynamics implementation in MATLAB suitable for simulation of two-dimensional fracture problems. The purpose of this code is twofold. First, it provides an entry-level peridynamics computational tool for educational and training purposes. Second, it serves as an accessible and easily modifiable computational tool for peridynamics researchers who would like to adapt the code for a multitude of peridynamics simulation scenarios. The current version of the code implements a bond-based brittle elastic peridynamic model and a critical stretch criterion for bond breaking. However, the code is designed to be extendable for other peridynamic models and computational features. In this paper, we provide an overview of the code structure and functions with illustrative examples. Due to the integrated computation and postprocessing MATLAB capabilities, PDMATLAB2D can serve as an effective testbed for testing new constitutive models and advanced numerical features for peridynamics computations. © UT-Battelle, LLC, under exclusive licence to Springer Nature Switzerland AG 2024. corrected publication 2024.

关键词： Fracture Meshfree Peridynamics Two-dimensional

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DMC Algorithm with Laguerre Functions 20th

DMC Algorithm with Laguerre Functions

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20th Polish control Conference, PCC 2020

作者： Tatjewski, Piotr Institute of Control and Computation Engineering Faculty of Electronics and Information Technology Warsaw University of Technology Nowowiejska 15/19 Warsaw00-665 Poland

ISBN: (纸本)9783030509354

The paper is concerned with development and analysis of the Dynamic Matrix control (DMC) discrete-time model predictive control algorithm with parametrisation of the control input trajectories by sets of Laguerre functions. First the appropriate formulation of the algorithm is developed. The main difference between it and the standard DMC formulation is that coefficients of the approximation by the Laguerre functions, instead of control input values, are the decision variables of the DMC optimization problem. Then the proposed DMCL (DMC with Laguerre functions) algorithm is applied to a multivariable benchmark problem to investigate its properties and to provide a concise comparison with the standard DMC algorithm. © 2020, Springer Nature Switzerland AG.

关键词： Model predictive control

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Secure Set-Based State Estimation for Linear Systems under Adversarial Attacks on Sensors

arXiv

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arXiv 2023年

作者： Niazi, Umar M.B. Chong, Michelle S. Alanwar, Amr Johansson, Karl H. Laboratory for Information and Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Department of Mechanical Engineering Eindhoven University of Technology Netherlands School of Computation Information and Technology Technical University of Munich Germany

Set-based state estimation plays a vital role in the safety verification of dynamical systems, which becomes significantly challenging when the system’s sensors are susceptible to cyber-attacks. Existing methods often impose limitations on the attacker’s capabilities, restricting the number of attacked sensors to be strictly less than half of the total number of sensors. This paper proposes a Secure Set-Based State Estimation (S3E) algorithm that addresses this limitation. The S3E algorithm guarantees that the true system state is contained within the estimated set, provided the initialization set encompasses the true initial state and the system is redundantly observable from the set of uncompromised sensors. The algorithm gives the estimated set as a collection of constrained zonotopes, which can be employed as robust certificates for verifying whether the system adheres to safety constraints. Furthermore, we demonstrate that the estimated set remains unaffected by attack signals of sufficiently large and also establish sufficient conditions for attack detection, identification, and filtering. This compels the attacker to inject only stealthy signals of small magnitude to evade detection, thus preserving the accuracy of the estimated set. When a few number of sensors (less than half) can be compromised, we prove that the estimated set remains bounded by a contracting set that converges to a ball whose radius is solely determined by the noise magnitude and is independent of the attack signals. To address the computational complexity of the algorithm, we offer several strategies for complexity-performance trade-offs. The efficacy of the proposed algorithm is illustrated through its application to a three-story building model. © 2023, CC BY.

关键词： State estimation

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Stability investigation and control synthesis of RLC ladder circuits modeled as uncertain spatially interconnected systems*

Stability investigation and control synthesis of RLC ladder ...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Dongdong Zhao Li Xu Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Institute of Automation Electronic and Electrical Engineering University of Zielona Góra Zielona Góra Poland School of Information Science and Engineering Lanzhou University Lanzhou China Department of Intelligent Mechatronics Akita Prefectural University Akita Japan

ISBN: (纸本)9781665476881

This paper deals with the problem of stability analysis and control scheme synthesis for RLC ladder circuits modeled as two-dimensional $(2D)$ systems, to which class spatially interconnected systems can be associated. This is because in the state-space model more than one indeterminates appear (time - continuous and the coordinates of the node in the structure - discrete). Hence analysis and control synthesis of such systems require developing new results from the systems theory area. As discussed later on due to the finite number of nodes in real systems under consideration, one option (exploited in this paper) for the analysis and synthesis of such systems is embedding temporal and spatial (node to node) dynamics into one 1D, i.e. $n=1$ , model. In this paper, RLC circuits, displayed as a series, i.e. along one spatial (node) indeterminate, constructed with conductances (resistors - R), inductances (L) and capacitors (C), considered are built of electronic elements with values given with some tolerance. This motivates the application of uncertain state-space model with the polytopic type of uncertainty. Then, for such a model, the Linear Matrix Inequalities (LMI) based methodology towards stability analysis and controller design methodology are developed. It actually leads to interesting results from the robust control area. The case study proves the correctness of the proposed methods.

关键词： Analytical models Uncertainty Two dimensional displays RLC circuits Interconnected systems Stability analysis State-space methods

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Multistability and anomalies in oscillator models of lossy power grids

arXiv

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arXiv 2022年

作者： Delabays, Robin Jafarpour, Saber Bullo, Francesco Center for Control Dynamical Systems and Computation Uc Santa Barbara Santa BarbaraCA93106-5070 United States School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA30332-0250 United States

The analysis of dissipatively coupled oscillators is challenging and highly relevant in power grids. Standard mathematical methods are not applicable, due to the lack of network symmetry induced by dissipative couplings. Here we demonstrate a close correspondence between stable synchronous states in dissipatively coupled oscillators, and the winding partition of their state space, a geometric notion induced by the network topology. Leveraging this winding partition, we accompany this article with an algorithms to compute all synchronous solutions of complex networks of dissipatively coupled oscillators. These geometric and computational tools allow us to identify anomalous behaviors of lossy networked systems. Counterintuitively, we show that loop flows and dissipation can increase the system's transfer capacity, and that dissipation can promote multistability. We apply our geometric framework to compute power flows on the IEEE RTS-96 test system, where we identify two high voltage solutions with distinct loop flows. © 2022, CC BY.

关键词： Complex networks

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A-optimal sensor location subject to correlated observations via a fast exchange algorithm

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Measurement: Journal of the International Measurement Confederation 2025年 254卷

作者： Uciński, Dariusz Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra65–516 Poland

A powerful computational technique is exposed for sensor selection maximizing the parameter estimation accuracy for spatiotemporal processes in the presence of correlated measurement noise. The trace of the posterior covariance matrix is employed as the design criterion. A best subset of a given number of candidate sites is constructed by iteratively improving its initial guess through greedy exchanges in which gauged sites are replaced by those selected from a list of ungauged sites. To make this inherently combinatorial problem more tractable, a novel equivalent form of the optimality criterion is employed to drastically simplify the exchanges. It heavily relies on the decomposition of the noise into uncorrelated and correlated components. The enhanced exchanges are then incorporated into a local search procedure with random multistart. Simulation experiments for two environmental monitoring networks demonstrate that the speedup can reach up to 100 times that of a state-of-the-art exchange algorithm. © 2025

关键词： Combinatorial mathematics

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Game Theory for Autonomy: From Min-Max Optimization to Equilibrium and Bounded Rationality Learning

Game Theory for Autonomy: From Min-Max Optimization to Equil...

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American control Conference (ACC)

作者： Kyriakos G. Vamvoudakis Filippos Fotiadis João P. Hespanha Raphael Chinchilla Guosong Yang Mushuang Liu Jeff S. Shamma Lacra Pavel Daniel Guggenheim School of Aerospace Engineering Georgia Institute of Technology Atlanta GA USA Center for Control Dynamical Systems and Computation University of California Santa Barbara CA Department of Electrical and Computer Engineering Rutgers University Piscataway NJ USA Department of Mechanical and Aerospace Engineering University of Missouri Columbia MO USA Department of Industrial and Enterprise Systems Engineering University of Illinois at Urbana-Champaign IL USA Department of Electrical and Computer Engineering University of Toronto Canada

Finding Nash equilibria in non-cooperative games can be, in general, an exceptionally challenging task. This is owed to various factors, including but not limited to the cost functions of the game being nonconvex/nonconcave, the players of the game having limited information about one another, or even due to issues of computational complexity. The present tutorial draws motivation from this harsh reality and provides methods to approximate Nash or min-max equilibria in non-ideal settings using both optimization- and learning-based techniques. The tutorial acknowledges, however, that such techniques may not always converge, but instead lead to oscillations or even chaos. In that respect, tools from passivity and dissipativity theory are provided, which can offer explanations about these divergent behaviors. Finally, the tutorial highlights that, more frequently than often thought, the search for equilibrium policies is simply vain; instead, bounded rationality and non-equilibrium policies can be more realistic to employ owing to some players’ learning imperfectly or being relatively naive – "bounded rational." The efficacy of such plays is demonstrated in the context of autonomous driving systems, where it is explicitly shown that they can guarantee vehicle safety.

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