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IEEE Conference on Decision and control

作者： Stefan van Dijk Paula Chanfreut W.P.M.H. Heemels Department of Mechanical Engineering Control Systems Technology section Eindhoven The Netherlands

Consensus control of multi-agent systems (MAS) with integrator dynamics is a canonical and well-studied problem in the literature. In contrast, the optimal distributed linear quadratic (LQ) consensus problem minimizing an appropriate quadratic cost is less studied. For this problem, most of the available design methods require global information on the interconnection graph and/or global (initial) state information. In this paper, we propose a suboptimal solution to the LQ-based distributed consensus control problem by approximating the quadratic cost function in a way that allows for decentralized design of the control gains. The resulting control protocol only uses information from neighboring agents for both control design and implementation. It has the additional benefit that the information can be exchanged periodically, reducing the communication requirements of the agent. Despite the suboptimality, asymptotic consensus is guaranteed for our control law, as we will formally prove. We illustrate by numerical simulations on a 6-agent system the effectiveness of our design and compare it to other approaches.

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EXPERIMENTAL TESTING OF A DYNAMIC AMPLIFIER (DDA) ENHANCED PHONONIC METAMATERIAL ON LEGO® TECH-NIC DEVICE 29

EXPERIMENTAL TESTING OF A DYNAMIC AMPLIFIER (DDA) ENHANCED P...

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29th International Congress on Sound and Vibration, ICSV 2023

作者： Kalderon, Moris Mantakas, Antonis Chondrogiannis, Kyriakos Antoniadis, Ioannis School of Mechanical Engineering Department of Mechanical Design and Control Systems National Technical University of Athens Athens Greece School of Civil Engineering Institute of Structural Analysis and Antiseismic Research Department of Structural Engineering National Technical University of Athens Athens Greece Department of Civil Environmental and Geomatic Engineering ETH Zurich Zurich8093 Switzerland

ISBN: (纸本)9788011034238

In this study, a novel Dynamic Directional Amplifier, namely the DDA, is implemented in an experimental scaled phononic set-up that is constructed using LEGO® technical components. Experimental testing is undertaken as a feasibility assessment of the concept and results indicate the low-frequency wave attenuation properties of the structure. © 2023 Proceedings of the International Congress on Sound and Vibration. All rights reserved.

关键词： Metamaterials

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Identifying Lebesgue-sampled Continuous-time Impulse Response Models: A Kernel-based Approach*

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IFAC-PapersOnLine 2023年第2期56卷 4198-4203页

作者： Rodrigo A. González Koen Tiels Tom Oomen Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology The Netherlands Delft Center for Systems and Control Delft University of Technology The Netherlands

control applications are increasingly sampled non-equidistantly in time, including in motion control, networked control, resource-aware control, and event-triggered control. Some of these applications use measurement devices that sample equidistantly in the amplitude domain. The aim of this paper is to develop a non-parametric estimator of the impulse response of continuous-time systems based on such sampling strategy, known as Lebesgue-sampling. To this end, kernel methods are developed to formulate an algorithm that adequately takes into account the output intersample behavior, which ultimately leads to more accurate models and more efficient output sampling compared to the standard approach. The efficacy of this method is demonstrated through a mass-spring damper case study.

关键词： System identification continuous-time systems event-based sampling

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Continuous Approximations of Projected Dynamical systems via control Barrier Functions

arXiv

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arXiv 2024年

作者： Delimpaltadakis, Giannis Cortés, Jorge Heemels, W.P.M.H. Control Systems Technology section Mechanical Engineering Eindhoven University of Technology Netherlands Department of Mechanical and Aerospace Engineering University of California San Diego United States

Projected Dynamical systems (PDSs) form a class of discontinuous constrained dynamical systems, and have been used widely to solve optimization problems and variational inequalities. Recently, they have also gained significant attention for control purposes, such as high-performance integrators, saturated control and feedback optimization. In this work, we establish that locally Lipschitz continuous dynamics, involving control Barrier Functions (CBFs), namely CBF-based dynamics, approximate PDSs. Specifically, we prove that trajectories of CBF-based dynamics uniformly converge to trajectories of PDSs, as a CBF-parameter approaches infinity. Towards this, we also prove that CBF-based dynamics are perturbations of PDSs, with quantitative bounds on the perturbation. Our results pave the way to implement discontinuous PDS-based controllers in a continuous fashion, employing CBFs. We demonstrate this on numerical examples on feedback optimization and synchronverter control. Moreover, our results can be employed to numerically simulate PDSs, overcoming disadvantages of existing discretization schemes, such as computing projections to possibly non-convex sets. Finally, this bridge between CBFs and PDSs may yield other potential benefits, including novel insights on stability. Copyright © 2024, The Authors. All rights reserved.

关键词： Dynamical systems

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A Framework to Estimate Life Cycle Emissions for Vehicle-Integrated Photovoltaic systems

A Framework to Estimate Life Cycle Emissions for Vehicle-Int...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Maurizio Clemente Luuk Van Sundert Mauro Salazar Theo Hofman Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology (TU/e) Eindhoven The Netherlands

ISBN: (数字)9798331541606

ISBN: (纸本)9798331541613

This paper presents a framework to estimate the environmental impact of solar electric vehicles, accounting for the emissions caused by photovoltaic system production as well as vehicle use. We leverage a cradle-to-gate life cycle assessment to estimate the greenhouse gas emissions of the vehicle-integrated photovoltaic system, from the raw material extraction to the final panel assembly, including the effect of the electricity mix both at the factory location and in the country of use. Furthermore, we modify an existing optimization framework for battery electric vehicles to optimally design a solar electric vehicle and estimate its energy consumption. We showcase our framework by analyzing a case study where the mono-crystalline silicon extraction and refinement processes occur in China, while the final assembly of the panel is in The Netherlands, generating 118 kg ofCO 2 equivalents per square meter of solar panel. The results suggest that it is generally beneficial to operate solar electric vehicles in countries with a high irradiation index. However, when the local electricity mix already displays a low carbon intensity, the additional emissions introduced by the panel are unnecessary, requiring a longer vehicle lifetime to reach an advantageous emission balance.

关键词： Energy consumption Radiation effects Electricity Electric vehicles Silicon Raw materials Batteries Solar panels Assembly Optimization

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Estimation of Dynamic Gaussian Processes

arXiv

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arXiv 2023年

作者： van Hulst, Jilles van Zuijlen, Roy Antunes, Duarte Heemels, W.P.M.H. Maurice the Control Systems Technology Section Department of Mechanical Engineering Eindhoven University of Technology Netherlands

Gaussian processes provide a compact representation for modeling and estimating an unknown function, that can be updated as new measurements of the function are obtained. This paper extends this powerful framework to the case where the unknown function dynamically changes over time. Specifically, we assume that the function evolves according to an integro-difference equation and that the measurements are obtained locally in a spatial sense. In this setting, we will provide the expressions for the conditional mean and covariance of the process given the measurements, which results in a generalized estimation framework, for which we coined the term Dynamic Gaussian Process (DGP) estimation. This new framework generalizes both Gaussian process regression and Kalman filtering. For a broad class of kernels, described by a set of basis functions, fast implementations are provided. We illustrate the results on a numerical example, demonstrating that the method can accurately estimate an evolving continuous function, even in the presence of noisy measurements and disturbances. © 2023, CC BY-NC-ND.

关键词： Difference equations

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Bayesian Estimation for Linear systems with Nonlinear Output and General Noise Distribution Using Fourier Basis Functions

Bayesian Estimation for Linear Systems with Nonlinear Output...

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IEEE Conference on Decision and control

作者： R.A.C. van Zuijlen J.S. van Hulst W.P.M.H. Heemels D.J. Antunes Department of Mechanical Engineering Control Systems Technology Section Eindhoven University of Technology The Netherlands

Bayesian estimation can be used to estimate the state of dynamical systems, but its applicability is hampered due to the curse of dimensionality. This paper aims to mitigate this bottleneck for a relevant class of systems consisting of a linear plant with bounded input, driven by stochastic disturbances with non-linear noisy output; the distributions of the disturbances and noise have a bounded support but are otherwise general. Using a frequency-domain interpretation of the operations of the Bayes' filter, we show that, under mild assumptions, exact Bayesian estimation can be pursued in a countable space of Fourier series coefficients, rather than in the usual functional space of probability densities. This fact leads to a natural approximate method, where the Fourier series coefficients corresponding to high frequencies are discarded. For this approximate method, the complexity of the conditioned state distribution, measured by the number of Fourier coefficients, remains constant at prediction steps and grows only linearly at each update step. The applicability of the results is illustrated in the context of electron microscopy, where a residual error analysis indicates that the approximation is accurate.

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Estimation of Dynamic Gaussian Processes

Estimation of Dynamic Gaussian Processes

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IEEE Conference on Decision and control

作者： Jilles Van Hulst Roy Van Zuijlen Duarte Antunes W.P.M.H. Maurice Heemels Department of Mechanical Engineering Control Systems Technology Section Eindhovsn University of Technology The Netherlands

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Immersion and Invariance-based Coding for Privacy-PreservingFederated Learning

arXiv

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arXiv 2024年

作者： Hayati, Haleh Murguia, Carlos van de Wouw, Nathan Dynamics & Control Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands Engineering Systems and Design Singapore University of Technology and Design Singapore Singapore

Federated learning (FL) has emerged to preserve privacy in collaborative distributed learning. In FL, clients conduct AI model training directly on their devices rather than sharing their data with a centralized server, which could potentially pose privacy risks. However, it has been shown that despite FL's partial preservation of local data privacy, information about clients' data can still be inferred from shared model updates during the training process. In recent years, several privacy-preserving approaches have been developed to mitigate this privacy leakage in FL. However, they often provide privacy at the cost of model performance or system efficiency. Balancing these trade-offs poses a significant challenge in implementing FL schemes. In this manuscript, we introduce a privacy-preserving FL framework built on the synergy of differential privacy and system immersion and invariance tools from control theory. The core idea is to treat optimization algorithms used in the standard FL schemes (gradient-based algorithms) as a dynamical system that we seek to immerse into a higher-dimensional system (referred here to as the target optimization algorithm). The dynamics of the target optimization algorithm is designed such that, firstly, the model parameters of the original algorithm are immersed/embedded in its parameters, secondly, it works on distorted parameters, and, thirdly, converges to an encoded version of the true model parameters of the original algorithm. The encoded model parameters can be decoded at the server to extract the original model parameters. We demonstrate that the proposed privacy-preserving scheme can be tailored to offer any desired level of differential privacy for local and global model parameters while maintaining the same accuracy and convergence rate as standard FL algorithms. © 2024, CC BY.

关键词： Federated learning

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Cost-optimal Fleet Management Strategies for Solar-electric Autonomous Mobility-on-Demand systems

Cost-optimal Fleet Management Strategies for Solar-electric ...

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International Conference on Intelligent Transportation

作者： Fabio Paparella Theo Hofman Mauro Salazar Department of Mechanical Engineering Control Systems Technology section Eindhoven University of Technology Eindhoven The Netherlands

This paper studies mobility systems that incorporate a substantial solar energy component, generated not only on the ground, but also through solar roofs installed on vehicles, directly covering a portion of their energy consumption. In particular, we focus on Solar-electric Autonomous Mobility-on-Demand systems, whereby solar-electric autonomous vehicles provide on-demand mobility, and optimize their operation in terms of serving passenger requests, charging and vehicle-to-grid (V2G) operations. We model this fleet management problem via directed acyclic graphs and parse it as a mixed-integer linear program that can be solved using off-the-shelf solvers. We showcase our framework in a case study of Gold Coast, Australia, analyzing the fleet's optimal operation while accounting for electricity price fluctuations resulting from a significant integration of solar power in the total energy mix. We demonstrate that using a solar-electric fleet can reduce the total cost of operation of the fleet by 10–15% compared to an electric-only counterpart. Finally, we show that for V2G operations using vehicles with a larger battery size can significantly lower the operational costs of the fleet, overcompensating its higher energy consumption by trading larger volumes of energy and even accruing profits.

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