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Autonomy and Machine Intelligence in Complex Systems: A Tutorial

Autonomy and Machine Intelligence in Complex Systems: A Tuto...

引用

American control Conference

作者： Kyriakos G. Vamvoudakis Panos J. Antsaklis Warren E. Dixon Joao P. Hespanha Frank L. Lewis Hamidreza Modares Bahare Kiumarsi Center for Control Dynamical-systems and Computation (CCDC) University of California Santa Barbara CA 93106-9560 USA Electrical Engineering Department University of Notre Dame Notre Dame IN 46556 USA Department of Mechanical and Aerospace Engineering University of Florida Gainesville FL 32611 USA The University of Texas at Arlington Research Institute (UTARI) Ft. Worth TX 76118 USA

ISBN: (纸本)9781479917730

This tutorial paper will discuss the development of novel state-of-the-art control approaches and theory for complex systems based on machine intelligence in order to enable full autonomy. Given the presence of modeling uncertainties, the unavailability of the model, the possibility of cooperative/non-cooperative goals and malicious attacks compromising the security of teams of complex systems, there is a need for approaches that respond to situations not programmed or anticipated in design. Unfortunately, existing schemes for complex systems do not take into account recent advances of machine intelligence. We shall discuss on how to be inspired by the human brain and combine interdisciplinary ideas from different fields, i.e. computational intelligence, game theory, control theory, and information theory to develop new self-configuring algorithms for decision and control given the unavailability of model, the presence of enemy components and the possibility of network attacks. Due to the adaptive nature of the algorithms, the complex systems will be capable of breaking or splitting into parts that are themselves autonomous and resilient. The algorithms discussed will be characterized by strong abilities of learning and adaptivity. As a result, the complex systems will be fully autonomous, and tolerant to communication failures.

关键词： Machine Learning Complex systems Autonomy Information Theory

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Exponential Stability and Stabilization of nD Systems

Exponential Stability and Stabilization of nD Systems

引用

IEEE Annual Conference on Decision and control

作者： Pavel Pakshin Julia Emelianova Krzysztof Galkowski Eric Rogers Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas 607227 Russia Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK

ISBN: (纸本)9781479978878

The paper considers nonlinear nD discrete and continuous systems described by a state-space model of the Roesser form where the property of exponential stability is characterized by use of a vector Lyapunov function. The property of exponential dissipativity is defined and a particular case of this property, termed exponential passivity, is used, together with a vector storage function, to develop a new method for output based control law design. An example of a system with nonlinear actuator dynamics is given to demonstrate the application effectiveness of the new results.

关键词： Stability analysis State-space methods control theory Lyapunov methods Mathematical model Laser stability

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Fair Optimization -- Methodological Foundations of Fairness in Network Resource Allocation

Fair Optimization -- Methodological Foundations of Fairness ...

引用

IEEE Annual Computer Software and Applications Conference Workshops (COMPSACW)

作者： Wlodzimierz Ogryczak Institute of Control & Computation Engineering Warsaw University of Technology Warsaw Poland

Network resource allocation problems are concerned with the allocation of limited resources among competing entities so as to respect some fairness rules while looking for the overall efficiency. This paper presents the methodology of fair optimization representing inequality averse optimization rather than strict inequality minimization as foundation of fairness in resource allocation. Commonly applied in network resource allocation Max-Min Fairness or the lexicographic maxim in optimization are the most widely known concepts of fair optimization. Alternative models of fair optimization are discussed showing that they generate all the classical fair solution concepts as special cases. However, the concepts of fair optimization can be effectively used to generate various fair and efficient resource allocation schemes.

关键词： Optimization Resource management Vectors Minimization Open wireless architecture Standards Distribution functions

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Model predictive control with on-line optimal linearisation

Model predictive control with on-line optimal linearisation

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IEEE International Symposium on Intelligent control (ISIC)

作者： Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

This paper describes a nonlinear Model Predictive control (MPC) algorithm with on-line optimal linearisation. Unlike the classical MPC algorithms with successive model linearisation at the current operating point of the process (using the Taylor's series expansion), the best possible linear approximation of the nonlinear predicted output trajectory is repeatedly found in the discussed approach. The algorithm is computationally efficient, because it requires solving linear equations and quadratic optimisation problems. It is demonstrated that for a benchmark system the described MPC algorithm gives significantly better control quality than the classical MPC approach with model linearisation.

关键词： Prediction algorithms Mathematical model Trajectory Optimization Predictive models Approximation algorithms Equations

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Robust fault identification of a polytopic LPV system with neural network

Robust fault identification of a polytopic LPV system with n...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Marcel Luzar Marcin Witczak Marcin Mrugalski Zbigniew Kański Institute of Control and Computation Engineering University of Zielona Góra Poland

In this paper, a discrete-time Linear Parameter-Varying (LPV) system identification method using artificial neural network is described. In particular, neural network is transformed to obtain LPV model of the non-linear system. Moreover, a novel robust fault diagnosis scheme is developed, which is based on an observer within H ∞ framework for a class of non-linear systems. The effectiveness of the proposed approach is illustrated by the faults estimation in the multi-tank system.

关键词： Observers Fault diagnosis Neural networks Robustness computational modeling Vectors Data models

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A systematic method of designing control systems for service and field robots

A systematic method of designing control systems for service...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Cezary Zieliński Tomasz Kornuta Tomasz Winiarski Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

The paper presents a systematic approach to robot control system design. The robot is treated as an embodied agent decomposed into effectors, receptors, both real and virtual, and a control subsystem. Those entities communicate through communication buffers. The activities of those entities are governed by FSMs that invoke behaviours formulated in terms of transition functions taking as arguments the contents of input buffers and producing the values inserted into output buffers. The method is exemplified by applying it to a design of a control system of a robot capable of locating an open box and covering it with a lid. Other systems that have been designed in a similar way are presented as well, to demonstrate the versatility of the approach.

关键词： Software Robot control Computer architecture Robot sensing systems Unified modeling language Cameras

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Stability of Stochastic Repetitive Processes

Stability of Stochastic Repetitive Processes

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IEEE Annual Conference on Decision and control

作者： Pavel Pakshin Julia Emelianova Mikhail Emelianov Krzysztof Galkowski Eric Rogers Arzamas Polytechnic Institute of R.E. Alekseev Nizhny Novgorod State Technical University 19 Kalinina Street Arzamas 607227 Russia Institute of Control and Computation Engineering University of Zielona Gora ul. Podgorna 50 65-246 Zielona Gora Poland Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ UK

ISBN: (纸本)9781479978878

The paper considers nonlinear discrete and differential stochastic repetitive processes using the state-space model setting. These processes are a particular case of 2D systems that have their origins in the modeling of physical processes. Using a vector Lyapunov function method sufficient conditions for stability in the mean square are obtained in the stochastic setting, where the vast majority of the currently known results are for deterministic dynamics. Based on these results the property of stochastic dissipativity in the second moment is introduced and then a particular case of this property, termed exponential passivity in the second moment, is used, together with a vector storage function, to develop a new method for output feedback based control law design. An example of a system with nonlinear actuator dynamics and state-dependent noise is given to demonstrate effectiveness of the new results.

关键词： mean square second moment Stochastic Repetitive Sufficient conditions State space models Output feedback control law Physical Processes origins

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Design process and experimental verification of the quadruped robot wave gait 19

Design process and experimental verification of the quadrupe...

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2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014

作者： Mozaryn, Jakub Klimaszewski, Jan Kolodziejczyk, Pawel ͆wieczkowski-Feiz, Dariusz Wawrzyński, Pawel Institute of Automatic Control and Robotics Warsaw University of Technology ul. ͆w. Boboli 8 Warszawa02-525 Poland Institute of Control and Computation Engineering Warsaw University of Technology ul. Nowowiejska 15/19 Warszawa00-665 Poland

ISBN: (纸本)9781479950812

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot. © 2014 IEEE.

关键词： MATLAB

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A robust fault-tolerant model predictive control for linear parameter-varying systems

A robust fault-tolerant model predictive control for linear ...

引用

International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Piotr Witczak Marcel Luzar Marcin Witczak Józef Korbicz Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

The paper deals with the problem of robust fault-tolerant model predictive control for non-linear discrete-time systems described by the Linear Parameter-Varying model. The proposed approach is based on a multi-stage stage procedure. Robust controller is designed without taking into account the input constraints related with the actuator saturation and deals with previously estimated faults. Thus, to check the compensation feasibility, employed robust invariant set takes into account the input constraints. If the current state does not belong to the robust invariant set, then a predictive control is performed in order to enhance the invariant set. This appealing phenomenon makes it possible to enlarge the domain of attraction, which makes the proposed approach an efficient solution for the fault-tolerant control. The final part of the paper shows an illustrative example for the variable-speed variable-pitch wind turbines.

关键词： Robustness Fault tolerance Fault tolerant systems Estimation Predictive control Actuators Optimization

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Optimal pump scheduling by NLP for large scale water transmission system

Optimal pump scheduling by NLP for large scale water transmi...

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28th European Conference on Modelling and Simulation, ECMS 2014

作者： Blaszczyk, Jacek Malinowski, Krzysztof Allidina, Alnoor ul. WĄwozowa 18 02-796 Warsaw Poland Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland IBI-MAAK Inc. Richmond Hill ON Canada

ISBN: (纸本)9780956494481

In this paper an operational control for the Toronto's Transmission Water System (TWS) is considered. The main objective of the ongoing Transmission Operations Optimizer (TOO) project consists in developing an advanced optimization and control tool for providing such pumping schedules for 153 pumps, that all quantitative requirements (such as pressure, flow, water level and water quality) with respect to the system operation are met, while the energy costs of delivering fresh water are minimized. We describe here, in general, the concept of TOO system and the large-scale non-linear, so-called Full Model (FM), based on system of hydraulic equations. The FM model is, in fact, a simplified version of EPANET hydraulic simulator with hourly hydraulic time-step, implemented as a complex NLP optimization model and usually solved over 24-hour horizon to deliver the aggregated optimal solution. To solve the resulting large-scale NLP we use the nonlinear interior-point method implemented in general-purpose large-scale IPOPT solver. Finally, we included the typical numerical example of application of the TOO Optimizer to solve the 24-hour and 7- day FM problems, and compared obtained optimal FM results with results of hydraulic simulation performed under EPANET simulator. Proceedings 28th European Conference on Modelling and Simulation © ECMS Flaminio Squazzoni, Fabio Baronio, Claudia Archetti, Marco Castellani (Editors).

关键词： Water supply

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