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Mediterranean Conference on control and Automation (MED)

作者： Vijayanand Digge Ramkrishna Pasumarthy Department of Electrical Engineering Indian Institute of Technology Madras Chennai India Department of Electrical Engineering Robert Bosch Center of Data Science and Artificial Intelligence Network Systems Learning Control and Evolution Group Indian Institute of Technology Madras Chennai India

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper presents a data-driven state feedback control law, based on a linear quadratic regulator (LQR) design, for systems with exogenous inputs. In general, this framework is referred to as a data-driven min-max controller, and is more robust to disturbances than the standard LQR controllers. Instead of relying on system models, in this work, the state feedback control law is computed directly from the knowledge of the inputs and the states. The LQR gain is parametrized with matrices that are directly estimated using open-loop experiment data of the system. We experimentally validate our results by implementing the data driven controller for performance management of a web-server hosted on a private cloud.

关键词： Linear systems State feedback Regulators Riccati equations Markov processes Mathematical models Parametric statistics

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LQR based ω−stabilization of a heat equation with memory

arXiv

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arXiv 2025年

作者： Sistla, Bhargav Pavan Kumar Akram, Wasim Mitra, Debanjana Natarajan, Vivek Centre for Systems and Control India Department of Mathematics Indian Institute of Technology Bombay Mumbai400076 India Department of Mathematics Indian Institute of Technology Roorkee Roorkee247667 India

We consider a heat equation with memory which is defined on a bounded domain in Rd and is driven by m control inputs acting on the interior of the domain. Our objective is to numerically construct a state feedback controller for this equation such that, for each initial state, the solution of the closed-loop system decays exponentially to zero with a decay rate larger than a given rate ω > 0, i.e. we want to solve the ω-stabilization problem for the heat equation with memory. We first show that the spectrum of the state operator A associated with this equation has an accumulation point at −ω0 0), we show that the ω-stabilization problem for the heat equation with memory is solvable provided certain verifiable conditions on the control operator B associated with this equation hold. We then consider an appropriate LQR problem for the heat equation with memory. For each n ∈ N, we construct finite-dimensional approximations An and Bn of A and B, respectively, and then show that by solving a corresponding approximation of the LQR problem a feedback operator Kn can be computed such that all the eigenvalues of An + BnKn have real part less than −ω. We prove that Kn for n sufficiently large solves the ω-stabilization problem for the heat equation with memory. A crucial and nontrivial step in our proof is establishing the uniform (in n) stabilizability of the pair (An + ωI, Bn). We have validated our theoretical results numerically using two examples: an 1D example on a unit interval and a 2D example on a square domain. Copyright © 2025, The Authors. All rights reserved.

关键词： State feedback

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Moving Horizon Capacitated Arc Routing Problem

SSRN

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SSRN 2022年

作者： Buriuly, Somnath Vachhani, Leena Sinha, Arpita Ravitharan, Sivapragasam Chauhan, S. IITB-Monash Research Academy India Systems and Control Engineering IIT Bombay India Monash Institute of Railway Technology Monash University Australia Department of Mechanical and Aerospace Engineering Monash University Australia

We investigate a moving horizon approach for the Multi-Trip Dynamic Capacitated Arc Routing Problem with Limited Duration, suitable for representing large-scale resource restricted routing problems arising in transportation systems. The moving horizon framework, coined as Moving Horizon Capacitated Arc Routing Problem (MH-CARP), subdivides the planning horizon of large-scale NP-Hard problems into smaller sub-problems. In addition, large-scale routing problems are cursed with arbitrary changes occurring in the problem dataset, affecting the future trips of all agents. MH-CARP is designed to achieve re-computation/re-planning of all agents, at the end of every trip. In addition, re-planning is also triggered immediately on observing arbitrary changes in the problem dataset. Theoretical results for the computation of dual variables are proposed and then implemented in a column generation algorithm to obtain lower bounds. The algorithm is validated on a widely available dataset for CARP, having instances of up to 147 tasks that require servicing by up to 20 agents. Using this benchmark data, a partial trip based re-planning strategy is also validated. Lastly, a simulation study is presented to contrast CARP based solution with MH-CARP solution. The results also show that automatic re-ordering of the trips is achieved to compensate for time delays. © 2022, The Authors. All rights reserved.

关键词： Linear programming

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Quaternion based Three-Dimensional Impact Angle Constrained Guidance

引用

IFAC-PapersOnLine 2020年第2期53卷 9446-9451页

作者： Prajakta Surve Arnab Maity Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

This paper proposes quaternion based three-dimensional guidance strategies, which ensure target interception with zero miss distance. Unlike most of the existing guidance strategies, the guidance command in this paper is derived using coupled engagement dynamics, which helps to maintain satisfactory performance for the engagements where decoupling is no longer valid. To avoid the well known possible singularities due to Euler’s representation, a quaternion based representation of three-dimensional engagement is utilized. This facilitates the proposed guidance strategy to remain applicable and effective for wider range. In addition, guidance strategy is also derived to ensure target interception at a desired impact angle, which is expressed in terms of desired line-of-sight quaternion. Simulation results are shown to evaluate the efficacy of proposed guidance strategies for various engagement scenarios.

关键词： Three-dimensional guidance impact angle guidance quaternion coupled dynamics

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Deviated Pursuit based Nonlinear Impact-Time Guidance with Finite-Time Convergence

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IFAC-PapersOnLine 2020年第1期53卷 93-98页

作者： Himanshu U.S. Bishwash Abhinav Sinha Shashi Ranjan Kumar Intelligent Systems & Control Lab Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai India

This paper proposes two finite-time convergent guidance schemes to intercept a constant velocity target at a pre-specified impact-time. The guidance commands exploit the archetype of deviated pursuit scheme to facilitate the synthesis of impact-time constrained guidance strategies. Deviated pursuit guidance offers an exact expression of time-to-go, thereby circumventing the errors associated with approximate time-to-go estimates. The guidance strategy is derived using nonlinear engagement dynamics, which helps in avoiding errors due to linearization. The first guidance strategy is based on traditional sliding mode control with constant rate reaching law. The second guidance scheme utilizes super-twisting control, which is a higher-order sliding mode technique avowed for guaranteeing finite-time convergence and better control precision. Finally, simulations are presented to invigorate the theoretical claims and it is also shown through simulations that the desired impact-time can even be lower than the initial time-to-go value.

关键词： Deviated Pursuit Impact-Time Finite-Time Convergence Sliding Mode Guidance

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Verification and Rectification of Error in Topology of Conserved Networks

引用

IFAC-PapersOnLine 2022年第30期55卷 43-48页

作者： Satya Jayadev P Arsh Bawa Nirav Bhatt Department of Electrical Engineering Department of Metallurgical and Materials Engineering Department of Biotechnology Robert Bosch Centre for Data Science and Artificial Intelligence (RBCDSAI) prospective Center for Network Systems Learning Control and Evolution Indian Institute of Technology Madras Chennai India

The knowledge of the underlying topology is essential for understanding and manipulating power grids, water distribution networks, biological networks. At times, the topology may be reported (or recorded) erroneously, mostly owing to human mistakes in reporting. The networks can be represented as a graph in which entities are represented as nodes and interactions among nodes as edges. This work focuses on the study of a specific type of error in topology that occurs when the incidence of an edge in the network is incorrectly reported. We propose a methodology to detect, isolate, and rectify this type of error using a single noisy measurement of flows along all the edges of a conserved network. We first show that this type of error generates specific error signatures, which enables error diagnosis, when the data is noise-free. An approach based on a series of statistical tests is developed to handle noisy data for online error detection and rectification. Simulation studies are performed to test the robustness of the proposed methodology.

关键词： Network topology Error detection Networks Verification Flow data Statistical hypothesis testing

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Information Extraction from a Strategic Sender over a Noisy Channel

Information Extraction from a Strategic Sender over a Noisy ...

引用

IEEE Conference on Decision and control

作者： Anuj S. Vora Ankur A. Kulkarni Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

We consider a setting where a receiver tries to perfectly recover a source signal privately known to a sender who can send messages via a noisy channel. However, the sender is compromised and may have an incentive to lie about its information. We formulate the problem as a game between the sender and the receiver and show that there is a strategy for the receiver in which it can recover an exponential number of signals. We define a notion of a sender graph and the information extraction capacity of the sender which quantifies the maximum amount of information that can be extracted from the sender. We also show that the rate of information extraction is given by the minimum of the information extraction capacity of the sender and the zero-error capacity of the noisy channel.

关键词： Receivers Noise measurement Games Information retrieval Sensors History Data mining

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Robust Discrete-Time Pontryagin Maximum Principle on Matrix Lie Groups

Robust Discrete-Time Pontryagin Maximum Principle on Matrix ...

引用

IEEE Conference on Decision and control

作者： Anant A. Joshi Debasish Chatterjee Ravi N. Banavar Systems and Control Engineering group Indian Institute of Technology Bombay India

ISBN: (数字)9781728174471

ISBN: (纸本)9781728174488

This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal control wherein the disturbance is the adversary and tries to maximise a cost that the control tries to minimise. Assuming the existence of a saddle point in the problem, we present a version of the Pontryagin maximum principle (PMP) that encapsulates first-order necessary conditions that the optimal control and disturbance trajectories must satisfy. This PMP features a saddle point condition on the Hamiltonian and a set of backward difference equations for the adjoint dynamics. We also present a special case of our result on Euclidean spaces.

关键词： Optimal control Manifolds Aerospace electronics Uncertainty Two dimensional displays Mathematical model Games

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Dynamic Optimizations in GPU Using Roofline Model

Dynamic Optimizations in GPU Using Roofline Model

引用

IEEE International Symposium on Circuits and systems

作者： Winnie Thomas Suryakant Toraskar Virendra Singh Computer Architecture and Dependable Systems Laboratory Dept. of Electrical Engineering Indian Institute of Technology Bombay India

ISBN: (纸本)9781728192017;9781728192024

Massively parallel processors such as graphics processing units (GPUs) often face the challenge of resource underutilization due to varying resource proclivity of workloads. Running multiple applications on a GPU has been an efficient and known alternative to mitigate underutilization. This paper proposes a multi-application oriented framework that carries out dynamic optimizations based on the operational intensities of various applications. Our framework analyzes applications based on operational intensities to identify their bottleneck resources using Roofline model. We demonstrate that the proposed optimizations improve the utilization and system-wide throughput of the GPU co-running applications with irregular resource demands. The dynamic optimizations improve the performance by 14.8% on average and up to 72.4% over a state-of-the-art spatial multitasking technique.

关键词： Heuristic algorithms Graphics processing units Throughput Multitasking Resource management Optimization Faces

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State Estimation for Integrated Energy systems: Motivations, Advances, and Future Work

引用

IEEE Transactions on Power systems 2024年第4期40卷 3057-3073页

作者： Zhao, Junbo Srivastava, Ankur Guo, Ye Cetenovic, Dragan Lin, Yuzhang Levi, Victor Yin, Guanxiong Huang, Manyun Zhang, Tingting Li, Zhigang Chen, Yanbo Exposito, Antonio G. Zhang, Wen Zheng, Weiye Chakrabarti, Saikat Li, Yang Sharma, Ankush Kamwa, Innocent Guo, Qinglai Terzija, Vladimir Mili, Lamine University of Connecticut Department of Electrical and Computer Engineering StorrsCT06269 United States Tsinghua University Tsinghua-Berkeley Shenzhen Institute Shenzhen518055 China The University of Manchester Department of Eee ManchesterM13 9PL United Kingdom University of Kragujevac Faculty of Technical Sciences Čačak Čačak32000 Serbia New York University Department of Electrical and Computer Engineering NY11201 United States Tsinghua University Department of Electrical Engineering Beijing100084 China Hohai University College of Energy and Electrical Engineering Nanjing210098 China Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan250061 China The Chinese University of Hong Kong-Shenzhen School of Science and Engineering Shenzhen518172 China North China Electric Power University School of Electrical and Electronic Engineering Beijing102206 China University of Sevilla Spain Sevilla41092 Spain South China University of Technology School of Electrical Power Engineering Guangzhou510641 China Indian Institute of Technology Kanpur Department of Electrical Engineering Kanpur208016 India Northeast Electric Power University School of Electrical Engineering Jilin132012 China Laval University Department of Electrical and Computer Engineering QuebecQCG1V 0A6 Canada Tsinghua University State Key Laboratory of Power Systems Department of Electrical Engineering Beijing100084 China Newcastle University School of Engineering Newcastle upon TyneNE1 7RU United Kingdom Virginia Polytechnic Institute and State University Bradley Department of Electrical and Computer Engineering Falls ChurchVA22043 United States

This paper summarizes the technical activities of a three-year-long IEEE Task Force (TF) on State Estimation (SE) for Integrated Energy systems (IES). It presents the formal definition and characteristics of IES, along with the comprehensive discussion on Electric Power systems (EPS) model, and static and dynamic models associated with heating and natural gas systems. The paper also identifies the barriers of SE for IES, such as estimation modeling, observability analysis, and measurement requirements, together with addressing multi-scale dynamics. An extensive comparative analysis between Integrated Energy systems-State Estimation (IES-SE) and more established Electric Power System-State Estimation (EPS-SE) is presented. The paper also provides future research needs and directions related to IES-SE. © 1969-2012 IEEE.

关键词： Power system analysis

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