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arXiv 2024年

作者： Liang, Desen Kivits, E.M.M. Schoukens, Maarten Van den Hof, Paul M.J. Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands

This paper addresses the problem of consistently estimating a continuous-time (CT) diffusively coupled network (DCN) to identify physical components in a physical network. We develop a three-step frequency-domain identification method for linear CT DCNs that allows to accurately recover all the physical component values of the network while exploiting the particular symmetric structure in a DCN model. This method uses the estimated noise covariance as a non-parametric noise model to minimize variance of the parameter estimates, obviating the need to select a parametric noise model. Moreover, this method is extended to subnetworks identification, which enables identifying the local dynamics in DCNs on the basis of partial measurements. The method is illustrated with an application from In-Circuit Testing of printed circuit boards. Experimental results highlight the method's ability to consistently estimate component values in a complex network with only a single excitation. © 2024, CC BY-NC-ND.

关键词： Continuous time systems

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Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent systems under STL Specifications

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Ag...

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IEEE Conference on Decision and control

作者： M. H. W. Engelaar Z. Zhang E. E. Vlahakis D.V. Dimarogonas M. Lazar S. Haesaert Department of Electrical Engineering (Control Systems Group) Eindhoven University of Technology The Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with realtime allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into subspecifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing.

关键词： Vehicle routing Stochastic processes Probabilistic logic Prediction algorithms Real-time systems Robustness Resource management Vehicle dynamics Multi-agent systems Predictive control

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Stochastic MPC for Finite Gaussian Mixture Disturbances with Guarantees

arXiv

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arXiv 2024年

作者： Engelaar, Maico H.W. Swaanen, M.P.P. Lazar, M. Haesaert, S. Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands

This paper presents a stochastic model predictive control (SMPC) algorithm for linear systems subject to additive Gaussian mixture disturbances, with the goal of satisfying chance constraints. To synthesize a control strategy, the stochastic control problem is reformulated into an MPC problem. The reformulation begins by decoupling the mixture distribution and decomposing the system dynamics. Using stochastic simulation relations, we then redefine the stochastic control problem onto the resultant abstract system. Next, constraint tightening forms an MPC problem subject to finite disturbances. A branching control is introduced to solve the MPC problem. Finally, a controller refinement procedure determines a valid control strategy. Our contribution is an extension of the SMPC literature to accommodate Gaussian mixture disturbances while retaining recursive feasibility and closed-loop guarantees. We illustrate the retention of guarantees with a case study of vehicle control on an ill-maintained road. © 2024, CC BY-NC-ND.

关键词： Predictive control systems

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Constrained Synchronization of Multi-Agent systems Using Distributed MPC and Invariant Families of Terminal Sets

Constrained Synchronization of Multi-Agent Systems Using Dis...

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European control Conference (ECC)

作者： Shiqi Duan Victor Daniel Reyes Dreke Mircea Lazar Department of Electrical Engineering Control Systems Group Eindhoven University of Technology The Netherlands

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, we present a synchronizing DMPC scheme that employs two ingredients: (i) a cost function that penalizes the deviation of the MPC control input from an unconstrained synchronization control law based on algebraic graph theory and (ii) an invariant family of constraints admissible terminal sets for MASs in closed-loop with an unconstrained synchronization control law. We prove that the developed DMPC scheme with a shrinking prediction horizon guarantees finite-time controllability to a family of invariant terminal sets and recursive feasibility. Compared to existing LMI methods for computing a family of constraints admissible invariant sets, we reduce conservatism by exploiting specific graph properties common to MASs. The developed DMPC algorithm for achieving constrained synchronization is tested in different benchmark examples, including balancing capacitor voltages for modular multilevel converters and harmonic oscillators, yielding faster synchronization.

关键词： Multilevel converters Laplace equations Prediction algorithms Harmonic analysis Graph theory Synchronization Communication networks

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SRG Analysis of Lur’e systems and the Generalized Circle Criterion

arXiv

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arXiv 2024年

作者： Krebbekx, Julius P.J. Tóth, Roland Das, Amritam Control Systems Group Department of Electrical Engineering Eindhoven University of Technology Netherlands Systems and Control Lab HUN-REN Institute for Computer Science and Control Budapest Hungary

Scaled Relative Graphs (SRGs) provide a novel graphical frequency-domain method for the analysis of nonlinear systems. However, we show that the current SRG analysis suffers from some pitfalls that limit its applicability in analysing practical nonlinear systems. We overcome these pitfalls by modifying the SRG of a linear time invariant operator, combining the SRG with the Nyquist criterion, and apply our result to Lur’e systems. We thereby obtain a generalization of the celebrated circle criterion, which deals with broader class of nonlinearities, and provides (incremental) L2-gain performance bounds. We illustrate the power of the new approach on the analysis of the controlled Duffing oscillator. © 2024, CC BY.

关键词： Frequency domain analysis

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Multiplier analysis of Lurye systems with power signals 63

Multiplier analysis of Lurye systems with power signals

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Heath, William P. Carrasco, Joaquin Bangor University School of Computer Science and Engineering Dean St LL57 1UT United Kingdom Nancy Rothwell Building University of Manchester Control Systems and Robotics Group Department of Electrical and Electronic Engineering M13 9PL United Kingdom

ISBN: (纸本)9798350316339

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities. If a dynamic multiplier is used there is no guarantee the closedloop system has finite incremental gain. It has been suggested in the literature that without this guarantee such a system may be critically sensitive to time-varying exogenous signals including noise. We show that multipliers guarantee the power gain of the system to be bounded and quantifiable. Furthermore power may be measured about an appropriate steady state bias term, provided the multiplier does not require the nonlinearity to be odd. Hence dynamic multipliers can be used to guarantee Lurye systems have low sensitivity to noise, provided other exogenous systems have constant steady state. We illustrate the analysis with an example where the exogenous signal is a power signal with non-zero mean. © 2024 IEEE.

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Probabilistic Tube-based control Synthesis of Stochastic Multi-Agent systems under Signal Temporal Logic 63

Probabilistic Tube-based Control Synthesis of Stochastic Mul...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Vlahakis, Eleftherios E. Lindemann, Lars Sopasakis, Pantelis Dimarogonas, Dimos V. Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden University of Southern California Viterbi School of Engineering Department of Computer Science Los AngelesCA90089 United States Queen's University School of Electronics Electrical Engineering and Computer Science Northern Ireland Belfast United Kingdom

ISBN: (纸本)9798350316339

We consider the control design of stochastic discrete-time linear multi-agent systems (MASs) under a global signal temporal logic (STL) specification to be satisfied at a predefined probability. By decomposing the dynamics into deterministic and error components, we construct a probabilistic reachable tube (PRT) as the Cartesian product of reachable sets of the individual error systems driven by disturbances lying in confidence regions (CRs) with a fixed probability. By bounding the PRT probability with the specification probability, we tighten all state constraints induced by the STL specification by solving tractable optimization problems over segments of the PRT, and relax the underlying stochastic problem with a deterministic one. This approach reduces conservatism compared to tightening guided by the STL structure. Additionally, we propose a recursively feasible algorithm to attack the resulting problem by decomposing it into agent-level subproblems, which are solved iteratively according to a scheduling policy. We demonstrate our method on a ten-agent system, where existing approaches are impractical. © 2024 IEEE.

关键词： Stochastic systems

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Distributed Optimization with Finite Bit Adaptive Quantization for Efficient Communication and Precision Enhancement 63

Distributed Optimization with Finite Bit Adaptive Quantizati...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Rikos, Apostolos I. Jiang, Wei Charalambous, Themistoklis Johansson, Karl H. Artificial Intelligence Thrust of the Information Hub Guangzhou China The Hong Kong University of Science and Technology Department of Computer Science and Engineering Clear Water Bay Hong Kong Aalto University School of Electrical Engineering Department of Electrical Engineering and Automation Espoo Finland University of Cyprus School of Engineering Department of Electrical and Computer Engineering Nicosia1678 Cyprus Kth Royal Institute of Technology Division of Decision and Control Systems StockholmSE-100 44 Sweden

ISBN: (纸本)9798350316339

In realistic distributed optimization scenarios, individual nodes possess only partial information and communicate over bandwidth constrained channels. For this reason, the development of efficient distributed algorithms is essential. In our paper we addresses the challenge of unconstrained distributed optimization. In our scenario each node's local function exhibits strong convexity with Lipschitz continuous gradients. The exchange of information between nodes occurs through 3-bit bandwidth-limited channels (i.e., nodes exchange messages represented by a only 3 -bits). Our proposed algorithm respects the network's bandwidth constraints by leveraging zoom-in and zoom-out operations to adjust quantizer parameters dynamically. We show that during our algorithm's operation nodes are able to converge to the exact optimal solution. Furthermore, we show that our algorithm achieves a linear convergence rate to the optimal solution. We conclude the paper with simulations that highlight our algorithm's unique characteristics. © 2024 IEEE.

关键词： Bandwidth

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The ChatGPT After: Building Knowledge Factories for Knowledge Workers with Knowledge Automation

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IEEE/CAA Journal of Automatica Sinica 2023年第11期10卷 2041-2044页

作者： Yutong Wang Xiao Wang Xingxia Wang Jing Yang Oliver Kwan Lingxi Li Fei-Yue Wang State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China School of Artificial Intelligence Anhui UniversityHefei 230039China Motion G Inc068898Singapore Department of Electrical and Computer Engineering Purdue School of Engineering and TechnologyIndiana University-Purdue University IndianapolisIndiana 46202-5132 USA IEEE

Briefing: This perspective introduces the concept and framework of knowledge factories with knowledge machines for knowledge workers to achieve knowledge automation for Industry 5.0 and intelligent *** The big hit of Chat GPT makes it imperative to contemplate the practical applications of big or foundation models [1]-[5]. However, as compared to conventional models, there is now an increasingly urgent need for foundation intelligence of foundation models for real-world industrial applications.

关键词： Automation template Chat GPT

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Robust Load Frequency control of Two-Area Interconnected Power System Using Fuzzy-I controller

Robust Load Frequency Control of Two-Area Interconnected Pow...

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2023 IEEE IAS Global Conference on Emerging Technologies, GlobConET 2023

作者： Wazir, Awadh Ba Alhussainy, Abdullah Ali Alghamdi, Sultan Rawa, Muhyaddin Sindi, Hatem F. King Abdulaziz University K. A. CARE Energy Research and Innovation Center Smart Grids Research Group Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer Engineering Jeddah Saudi Arabia King Abdulaziz University Smart Grids Research Group Center of Research Excellence in Renewable Energy and Power Systems Department of Electrical and Computer Engineering Jeddah Saudi Arabia King Abdulaziz University Electrical and Computer Engineering Jeddah Saudi Arabia

ISBN: (纸本)9798350331790

The paper proposes a Fuzzy-I controller for optimal load frequency control (LFC) in a two-area interconnected power system. The proposed controller is composed of a fuzzy logic controller (FLC) and an integral (I) controller. To achieve a better dynamic response for the LFC, the integral controller and frequency bias parameters of the secondary loop are tuned using the Particle Swarm Optimization (PSO) technique. To boost the efficiency of the optimization, a proposed objective function using the integral of squared error (ISE) and settling time is used. A comparative study and analysis are conducted between the base system controller, optimized I controller, and the proposed controller under three different scenarios of load disturbances. The robustness of the proposed controller is shown by performing a sensitivity analysis for various system parameters and operating conditions. Moreover, the performance of the proposed controller was compared with the previous LFC approaches published in the literature. The simulation outcomes demonstrate that the proposed method has an outstanding performance. The work results are presented as time-domain simulations using MATLAB/SIMULINK tool. © 2023 IEEE.

关键词： controllers

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