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Output consensus in a heterogeneous leader-follower multi-agent system with input and communication delays

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Output consensus in a heterogeneous leader-follower multi-ag...

control Conference (ICC), 2019 Sixth indian

作者： Vaibhav Kumar Singh Aman Batra Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

We consider the output consensus problem for a heterogeneous multi-agent system with one leader agent and $N$ follower agents. The dynamics of each follower agent is governed by a single-input single-output (SISO) stable linear system. The dynamics of the leader agent is governed by a marginally stable SISO linear system, input to which is zero at all times. Each follower agent has input and output delays which can be nonuniform across the multi-agent system. For each follower agent, we construct a pre-compensator and every follower agent has access to the output of the pre-compensator associated with its neighboring agents. A subset of the follower agents can also access the output of the leader agent. The communication delay, which is the delay in the exchange of outputs, is uniform across all the follower agents. All the delays present in the multi-agent system can be arbitrarily large but are known. For each pre-compensator, under the assumed information exchange, we design a feedback controller that drives the state of all the pre-compensators to a consensus trajectory. The synchronized outputs of the pre-compensators is then used to ensure output consensus among the follower agents. The controller design is robust to small perturbations in the communication delays. We demonstrate the efficacy of our design technique using a numerical example.

关键词： Linear systems Perturbation methods Frequency-domain analysis SISO communication Eigenvalues and eigenfunctions Delays Trajectory

Feedback Linearizable Discretizations of Second Order Mechanical systems using Retraction Maps

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arXiv 2024年

作者： Shreyas, N.B. Diego, David Martín Banavar, Ravi Systems and Control Engineering Indian Institute of Technology Bombay Maharashtra Mumbai400076 India Calle Nicolás Cabrera 13-15 Madrid28049 Spain

Mechanical systems are most often described by a set of continuous-time, nonlinear, second-order differential equations (SODEs) of a particular structure governed by the covariant derivative. The digital implementation of controllers for such systems requires a discrete model of the system and hence requires numerical discretization schemes. Feedback linearizability of such sampled systems, however, depends on the discretization scheme employed. In this article, we utilize retraction maps and their lifts to construct feedback linearizable discretizations for SODEs which can be applied to many mechanical systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Continuous time systems

Stabilization of cascade interconnection of an 1D heat equation in polar coordinates and an ODE using LQR design

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Stabilization of cascade interconnection of an 1D heat equat...

IEEE Conference on Decision and control

作者： Bhargav Pavan Kumar Sistla Soham Chatterjee Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we consider ODE-PDE cascade systems in which the input is applied to the ODE system whose output drives the PDE system and PDE-ODE cascade systems in which the input is applied to the PDE system whose output drives the ODE system. In both the cascade systems we take the PDE system to be an 1D heat equation in polar coordinates containing a singular term. We address the problem of designing state-feedback control laws for stabilizing these cascade systems via finite-dimensional approximation and LQR design. Using the Galerkin technique we first obtain an N th -order ODE approximation for the cascade system. Next we fix a quadratic cost function for the cascade system and consider the corresponding operator algebraic Riccati equation (ARE). Then we associate an appropriate matrix ARE with the ODE approximation. Under some natural assumptions on the cascade system, we verify that certain well-known hypothesis in the literature hold, which imply that the solution Π N of the matrix ARE converges to the solution Π of the operator ARE strongly as N→∞. This implies that the stabilizing gain for the ODE approximation determined by Π N converges to a stabilizing gain for the cascade system. We illustrate this in simulations.

关键词： Heating systems Riccati equations Cost function Mathematical models Method of moments

Consensus-driven Deviated Pursuit for Guaranteed Simultaneous Interception of Moving Targets

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arXiv 2024年

作者： Sinha, Abhinav Mukherjee, Dwaipayan Kumar, Shashi Ranjan GALACxIS Lab Department of Aerospace Engineering and Engineering Mechanics University of Cincinnati OH45221 United States Department of Electrical Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Powai Mumbai400076 India

This work proposes a cooperative strategy that employs deviated pursuit guidance to simultaneously intercept a moving (but not manoeuvring) target. As opposed to many existing cooperative guidance strategies which use estimates of time-to-go, based on proportional-navigation guidance, the proposed strategy uses an exact expression for time-to-go to ensure simultaneous interception. The guidance design considers nonlinear engagement kinematics, allowing the proposed strategy to remain effective over a large operating regime. Unlike existing strategies on simultaneous interception that achieve interception at the average value of their initial time-to-go estimates, this work provides flexibility in the choice of impact time. By judiciously choosing the edge weights of the communication network, a weighted consensus in time-to-go can be achieved. It has been shown that by allowing an edge weight to be negative, consensus in time-to-go can even be achieved for an impact time that lies outside the convex hull of the set of initial time-to-go values of the individual interceptors. The bounds on such negative weights have been analysed for some special graphs, using Nyquist criterion. Simulations are provided to vindicate the efficacy of the proposed strategy. © 2024, CC BY-NC-ND.

关键词： Navigation

Stabilization of a class of infinite-dimensional systems subjected to unknown matched disturbances

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Stabilization of a class of infinite-dimensional systems sub...

control Conference (ICC), 2019 Sixth indian

作者： Bhagyashri Gurjar Sudipta Chattopadhyay Vivek Natarajan Systems and Control Engineering Group Indian Institute of Technology Bombay Mumbai India

In this paper, we consider the problem of constructing an output-feedback controller for stabilizing an un-stable linear PDE system with bounded control and observation operators driven by an unknown disturbance. The disturbance is matched with the input of the PDE system and its derivative is assumed to be bounded. Under a smoothness assumption on the observation operator and an observability matching condition, we first develop a linear observer with disturbance decoupling for state estimation and then we develop a sliding mode observer for estimating the disturbance. Using the estimated state and disturbance we implement a state-feedback control law which guarantees the exponential decay of the state of the PDE system to zero for all initial states. Our approach assumes certain prior knowledge regarding the stabilization and estimation of the PDE system in the absence of disturbances. Our contribution lies in performing stabilization (convergence of state to zero) and estimation in the presence of unknown disturbances. We illustrate our controller design approach in simulations using an unstable 1D heat equation.

关键词： Heating systems Perturbation methods Impedance matching Observers control systems Mathematical models Observability

The Quantum Advantage in Decentralized control

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arXiv 2022年

作者： Deshpande, Shashank A. Kulkarni, Ankur A. Systems and Control Engineering Indian Institute of Technology Bombay Mumbai400076 India

It is known in the context of decentralised control that there exist control strategies consistent with the requirements of a given information structure, yet physically unimplementable through any amount of passive common randomness. This imposes a natural set of limitations on what is achievable through common randomness in both cooperative and competitive settings. We show that it is possible to breach these limitations with the use of quantum-physical architectures. In particular, we present a class of stochastic strategies that leverage quantum entanglement to produce strategic distributions which compose a strict superclass of strategies implemented through passive common randomness. We investigate numerically, the 'quantum advantage' offered by this new class over a parametric familiy of cooperative decision problems with static information structure. We demonstrate through variations across the parametric family that fundamental decision theoretic elements such as information and the cost determine the manifestation of quantum advantage in a given control problem. Our work motivates a novel decision and control paradigm with an enlarged space of control policies achievable by means of quantum *** Codes 91A12 © 2022, CC BY.

关键词： Quantum entanglement

Strategic Multi-class Classification for Non-uniform Preferences and its Relation to Incentive Compatibility

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Strategic Multi-class Classification for Non-uniform Prefere...

control Conference (ICC), 2019 Sixth indian

作者： Manish K. Singh Ankur A. Kulkarni Systems and Control Engineering group at the Indian Institute of Technology Bombay Mumbai India

Motivated by the problem of university admissions, we study the problem of correctly classifying the label of a feature vector when a sender can manipulate this vector to get a desired label. There are two players: sender and receiver and both know the target function over the feature vectors. The sender privately observes a feature vector and manipulates it according to its payoff criteria and sends it to the receiver. The receiver would like to perform multi-class classification to maximize the number of points for which it can recover the original label of the feature vector known to the sender. We pose this problem as a Stackelberg game with the receiver as the leader. Through this we characterise the optimal classifier in terms of the independence number of a certain graph which depends on the utility and cost of the sender and the target function. As a corollary, we characterise the optimal strategy of the receiver for the problem of strategic communication with cost. Finally we show that if the target function is incentive compatible condition, then the receiver can correctly classify all feature vectors.

关键词： Costs Receivers Games

Deadtime Compensation-Based Approximate Decoupling control Approach for Multivariable Processes

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Deadtime Compensation-Based Approximate Decoupling Control A...

IEEE Region 10 International Conference TENCON

作者： Suresh Aldhandi Ketan P. Detroja Department of Electrical Engineering The Systems and Control Group Indian Institute of Technology Hyderabad Telangana India

ISBN: (数字)9798350350821

ISBN: (纸本)9798350350838

The interaction effects among individual loops and multiple time delays are the prime reasons for degrading the closed-loop performance of multivariable systems. For highly interacting systems, decouplers are used to counteract interaction effects. However, decouplers may not be realizable and even if they are realizable, for high dimensional systems, decoupler elements may be complex. To improve the decoupler realizability, a dead-time compensation (DTC) approach is proposed in this work. The DTC framework can minimise the impact of dead-time on system dynamics. The proposed decoupler is designed based on the dynamic relative gain array (DRGA) to compensate for interaction effects. The DRGA reveals more insights about the coupling effect between a pair of input-output loops. The DRGA elements are used as decoupler elements for the multivariable process. The minimization of both interaction effects and dead-time dynamics can be achieved with the proposed DTC-based decoupling control approach. The simple IM C PI tuning rules are utilized to implement controllers for each loop. The simulation study affirming the proposed method provides better desired closed-loop performance, error indices for nominal and plant model mismatches, and robust stability against plant uncertainty over the popular existing decoupler based approaches.

关键词： Couplings Uncertainty System dynamics Robust stability Delay effects Process control Minimization MIMO Tuning IEEE Regions

Achievable Rates for Information Extraction from a Strategic Sender

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arXiv 2023年

作者： Vora, Anuj S. Kulkarni, Ankur A. The Delft Center for Systems and Control Group Delft University of Technology Delft2628CD Netherlands The Systems and Control Engineering group The Indian Institute of Technology Bombay Mumbai400076 India

We consider a setting of non-cooperative communication where a receiver wants to recover randomly generated sequences of symbols that are observed by a strategic sender. The sender aims to maximize an average utility that may not align with the recovery criterion of the receiver, whereby the received signals may not be truthful. We pose this problem as a sequential game between the sender and the receiver with the receiver as the leader and determine ‘achievable strategies’ for the receiver that attain arbitrarily small probability of error for large blocklengths. We show the existence of such achievable strategies under a sufficient condition on the utility of the sender. For the case of the binary alphabet, this condition is also necessary, in the absence of which, the probability of error goes to one for all choices of strategies of the receiver. We show that for reliable recovery, the receiver chooses to correctly decode only a subset of messages received from the sender and deliberately makes an error on messages outside this subset. Due to this decoding strategy, despite a clean channel, our setting exhibits a notion of maximum rate of communication above which the probability of error may not vanish asymptotically and in certain cases, may even tend to one. For the case of the binary alphabet, the maximum rate may be strictly less than unity for certain classes of utilities. Copyright © 2023, The Authors. All rights reserved.

关键词： Recovery