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Robust Data-Driven Predictive Control using Reachability Analysis

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arXiv 2021年

作者： Alanwar, Amr Stürz, Yvonne Johansson, Karl Henrik Computer Science & Electrical Engineering Department Jacobs University Bremen Germany Division of Decision and Control Systems KTH Royal Institute of Technology Sweden Model Predictive Control Laboratory University of California Berkeley United States

We present a robust data-driven control scheme for an unknown linear system model with bounded process and measurement noise. Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven reachable regions is proposed. The data-driven reachable regions are based on a matrix zonotope recursion and are computed based on only noisy input-output data of a trajectory of the system. We assume that measurement and process noise are contained in bounded sets. While we assume knowledge of these bounds, no knowledge about the statistical properties of the noise is assumed. In the noise-free case, we prove that the presented purely data-driven control scheme results in an equivalent closed-loop behavior to a nominal model predictive control scheme. In the case of measurement and process noise, our proposed scheme guarantees robust constraint satisfaction, which is essential in safety-critical applications. Numerical experiments show the effectiveness of the proposed data-driven controller in comparison to model-based control schemes. Copyright © 2021, The Authors. All rights reserved.

关键词： Controllers

Comprehensive Utility Function for Resource Allocation in Mobile Edge Computing

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computers, Materials & Continua 2021年第2期 1461-1477页

作者： Zaiwar Ali Sadia Khaf Ziaul Haq Abbas Ghulam Abbas Lei Jiao Amna Irshad Kyung Sup Kwak Muhammad Bilal Telecommunications and Networking(TeleCoN)Research Laboratory GIK Institute of Engineering Sciences and TechnologyTopi23640Pakistan Faculty of Electrical Engineering GIK Institute of Engineering Sciences and TechnologyTopi23640Pakistan Faculty of Computer Sciences and Engineering GIK Institute of Engineering Sciences and TechnologyTopi23640Pakistan Department of Information and Communication Technology University of Agder(UiA)Grimstad4898Norway Department of Information and Communication Engineering Inha UniversityIncheon22212Korea Department of Computer and Electronics Systems Engineering Hankuk University of Foreign StudiesGyeonggi-do17035Korea

In mobile edge computing(MEC),one of the important challenges is how much resources of which mobile edge server(MES)should be allocated to which user equipment(UE).The existing resource allocation schemes only consider CPU as the requested resource and assume utility for MESs as either a random variable or dependent on the requested CPU *** paper presents a novel comprehensive utility function for resource allocation in *** utility function considers the heterogeneous nature of applications that a UE offloads to *** proposed utility function considers all important parameters,including CPU,RAM,hard disk space,required time,and distance,to calculate a more realistic utility value for ***,we improve upon some general algorithms,used for resource allocation in MEC and cloud computing,by considering our proposed utility *** name the improved versions of these resource allocation schemes as comprehensive resource allocation *** UE requests are modeled to represent the amount of resources requested by the UE as well as the time for which the UE has requested these *** utility function depends upon the UE requests and the distance between UEs and MES,and serves as a realistic means of comparison between different types of UE ***(or selecting)an optimal MES with the optimal amount of resources to be allocated to each UE request is a challenging *** show that MES resource allocation is sub-optimal if CPU is the only resource *** taking into account the other resources,i.e.,RAM,disk space,request time,and distance in the utility function,we demonstrate improvement in the resource allocation algorithms in terms of service rate,utility,and MES energy consumption.

关键词： Cloud computing energy efficient resource allocation mobile edge computing service rate user equipment utility function

A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

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A SINS Error Correction Approach Based on Dual-Threshold ZV ...

IEEE International Conference on systems, Man and Cybernetics

作者： Ruijie Xu Shichao Chen Wenqiao Sun Yisheng Lv Jialiang Luo Ying Tang The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems The Center of National Railway Intelligent Transportation System Engineering and Technology Institute of Automation Chinese Academy of Sciences China Academy of Railway Sciences Corporation Limited Beijing China China Academy of Railway Sciences Corporation Limited Transportation and Economics Research Institute and the Center of National Railway Intelligent Transportation System Engineering and Technology Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences School of Information Engineering China University of Geosciences Beijing Beijing China Department of Electrical and Computer Engineering Rowan University Glassboro USA

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation System (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance.

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Janus faces of dipolar sources in directional near-field coupling with an oriented misalignment

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Physical Review A 2024年第3期109卷 033505-033505页

作者： Chenxu Bian Yuhan Zhong Xuhuinan Chen Tony Low Hongsheng Chen Baile Zhang Xiao Lin State Key Laboratory of Extreme Photonics and Instrumentation ZJU-Hangzhou Global Scientific and Technological Innovation Center College of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China and International Joint Innovation Center The Electromagnetics Academy at Zhejiang University Zhejiang University Haining 314400 China Department of Electrical and Computer Engineering University of Minnesota Minneapolis Minnesota 55455 USA Key Lab of Advanced Micro/Nano Electronic Devices & Smart Systems of Zhejiang Jinhua Institute of Zhejiang University Zhejiang University Jinhua 321099 China and Shaoxing Institute of Zhejiang University Zhejiang University Shaoxing 312000 China Division of Physics and Applied Physics School of Physical and Mathematical Sciences and Centre for Disruptive Photonic Technologies Nanyang Technological University Singapore 637371 Singapore

Directional near-field coupling can enable many applications, such as directional routing, on-chip information processing, and chiral quantum optics. This directional near-field coupling is generally face dependent, since the induced near-field radiation pattern is dependent on which face (e.g., the upper or lower face) of the dipolar source is facing toward the outcoupler. In other words, the dipolar sources in the directional near-field coupling intrinsically have two faces (e.g., Janus faces), whose corresponding near-field coupling strength and coupling directionality might be distinct. Here, we outline a general physical framework to control these Janus faces in the directional near-field coupling and find that they can have the feature of an oriented misalignment. To be specific, the upper and lower radiation patterns of excited surface waves can have the same shape but are misaligned with a twist angle. For example, the twist angle can be any acute angle if the source is composed of a Huygens dipole and an electric dipole, and it can be any obtuse angle if the source is constructed by a circular electric dipole and a magnetic dipole.

关键词： Classical optics Light-matter interaction Metamaterials Near-field optics Photonics Plasmonics

SDOA-Net: An Efficient Deep Learning-Based DOA Estimation Network for Imperfect Array

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arXiv 2022年

作者： Chen, Peng Chen, Zhimin Liu, Liang Chen, Yun Wang, Xianbin State Key Laboratory of Millimeter Waves Southeast University Nanjing210096 China State Key Laboratory of Integrated Chips and Systems Fudan University Shanghai201203 China School of Electronic and Information Shanghai Dianji University Shanghai201306 China Department of Electronic and Information Engineering The Hong Kong Polytechnic University Hong Kong State Key Laboratory of Integrated Chips and Systems Microelectronics School Fudan University Shanghai201203 China Department of Electrical and Computer Engineering Western University LondonONN6A 5B9 Canada

The estimation of direction of arrival (DOA) is a crucial issue in conventional radar, wireless communication, and integrated sensing and communication (ISAC) systems. However, low-cost systems often suffer from imperfect factors, such as antenna position perturbations, mutual coupling effect, inconsistent gains/phases, and non-linear amplifier effect, which can significantly degrade the performance of DOA estimation. This paper proposes a DOA estimation method named superresolution DOA network (SDOA-Net) based on deep learning (DL) to characterize the realistic array more accurately. Unlike existing DL-based DOA methods, SDOA-Net uses sampled received signals instead of covariance matrices as input to extract data features. Furthermore, SDOA-Net produces a vector that is independent of the DOA of the targets but can be used to estimate their spatial spectrum. Consequently, the same training network can be applied to any number of targets, reducing the complexity of implementation. The proposed SDOA-Net with a low-dimension network structure also converges faster than existing DL-based methods. The simulation results demonstrate that SDOA-Net outperforms existing DOA estimation methods for imperfect arrays. The SDOA-Net code is available online at https://***/chenpengseu/***. Copyright © 2022, The Authors. All rights reserved.

关键词： Direction of arrival

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

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Journal of Bionic engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

Load Profile Inpainting for Missing Load Data Restoration and Baseline Estimation

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arXiv 2022年

作者： Li, Yiyan Song, Lidong Hu, Yi Lee, Hanpyo Wu, Di Rehm, P.J. Lu, Ning The College of Smart Energy Shanghai Jiao Tong University Shanghai200240 China The Electrical and Computer Engineering Department Future Renewable Energy Delivery and Management Systems Center North Carolina State University RaleighNC27606 United States Systems Center North Carolina State University RaleighNC27606 United States ElectriCities Pacific Northwest National Laboratory United States

This paper introduces a Generative Adversarial Nets (GAN) based, Load Profile Inpainting Network (Load-PIN) for restoring missing load data segments and estimating the baseline for a demand response event. The inputs are time series load data before and after the inpainting period together with explanatory variables (e.g., weather data). We propose a Generator structure consisting of a coarse network and a fine-tuning network. The coarse network provides an initial estimation of the data segment in the inpainting period. The fine-tuning network consists of self-attention blocks and gated convolution layers for adjusting the initial estimations. Loss functions are specially designed for the fine-tuning and the discriminator networks to enhance both the point-to-point accuracy and realisticness of the results. We test the Load-PIN on three real-world data sets for two applications: patching missing data and deriving baselines of conservation voltage reduction (CVR) events. We benchmark the performance of Load-PIN with five existing deep-learning methods. Our simulation results show that, compared with the state-of-the-art methods, Load-PIN can handle varying-length missing data events and achieve 15-30% accuracy improvement. Copyright © 2022, The Authors. All rights reserved.

关键词： Convolution

On the use of the Smith-McMillan form in decoupling system dynamics

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arXiv 2021年

作者： Barros, Clarisse Pétua Bosman Butler, Hans Tóth, Roland The Eindhoven University of Technology Department of Electrical Engineering Control Systems Group Eindhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 BudapestH-1111 Hungary ASML Veldhoven5504 DR Netherlands

In this paper, the use of the Smith-McMillan form in decoupling multiple-input multiple-output system dynamics is analyzed. In short, from a transfer matrix plant model one can obtain a decoupling compensator which leads to a decoupled plant that contains the same transmission poles and zeros of the transfer matrix of the original system. As a result, full decoupling of the plant transfer matrix is obtained for all frequencies, which can be individually addressed by single-input single-output control. The aim of this paper is to present conditions for the decoupled system that guarantee internal stability and performance requirements for the overall control system. Performance specifications are defined in terms of magnitude limits for the maximum singular value of the closed-loop transfer matrices. The potential of the decoupling procedure is shown in a simulation study of a mechanical system. © 2021, CC BY.

关键词： Transfer matrix method

Nonlinear parameter-varying state-feedback design for a gyroscope using virtual control contraction metrics

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arXiv 2021年

作者： Wang, Ruigang Koelwijn, Patrick J.W. Manchester, Ian R. Tóth, Roland Australian Centre for Field Robotics Sydney Institute for Robotics and Intelligent Systems University of Sydney SydneyNSW2006 Australia Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands Systems and Control Laboratory Institute for Computer Science and Control Budapest Hungary

In this paper, we present a virtual control contraction metric (VCCM) based nonlinear parameter-varying (NPV) approach to design a state-feedback controller for a control moment gyroscope (CMG) to track a user-defined trajectory set. This VCCM based nonlinear stabilization and performance synthesis approach, which is similar to linear parameter-varying (LPV) control approaches, allows to achieve exact guarantees of exponential stability and L2-gain performance on nonlinear systems with respect to all trajectories from the predetermined set, which is not the case with the conventional LPV methods. Simulation and experimental studies conducted in both fully- and under-actuated operating modes of the CMG show effectiveness of this approach compared to standard LPV control methods. © 2021, CC BY.

关键词： State feedback