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Indistinguishability analysis and observer design for size-structured cell populations

IFAC-PapersOnLine 2023年第2期56卷 581-586页

作者： P. Jerono J.J. Winkin A. Vande Wouwer A. Schaum Digital Process Engineering Group (DPE) Karlsruhe Institute of Technology Germany Department of Mathematics and Institute for Complex Systems (naXys) University of Namur Belgium Systems Estimation Control and Optimization (SECO) University of Mons Belgium Chair of Automation and Control (ACON) Kiel University Germany

The observability property of population balance equations with biomass measurements is addressed within the framework of indistinguishable trajectories. The population balance equation is described by a partial integro-differential equation which is coupled with an ordinary differential equation for the nutrient dynamics. For the semi-discretized model equations, the dynamics of indistinguishable trajectories are derived and evaluated for the special case of equal partitioning at cell division revealing that the observability property is guaranteed as long as the nutrient concentration is not depleted. Based on these results, an observer is designed and tested in simulation to estimate the cell population distribution using biomass measurements in a batch bioreactor for the case of a bi-structured population.

关键词： Observability indistinguishable trajectories cell population dynamics

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Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles for Aerial Grasping and Package Delivery

Modular, Tethered, Reconfigurable Hybrid Robotic Vehicles fo...

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IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Masahiro Kobayashi Geoffrey Huang Joao Buzzatto Angus Lynch Kostas Kyriakopoulos Minas Liarokapis Department of Mechanical and Mechatronics Engineering New Dexterity research group The University of Auckland New Zealand Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece

ISBN: (数字)9798331510954

ISBN: (纸本)9798331510961

Unmanned Aerial Vehicles (UAVs) are rapidly emerging as the next-generation solution for delivering pay-loads. In recent years, numerous designs have been proposed, each offering distinct approaches to this challenge. Presently, existing systems tend to be cumbersome and tailored for specific applications, which hinders their flexibility for accommodating different environments or payloads. This work focuses on the development of a versatile, scalable, and modular drone delivery system. The system comprises modular mobile robots equipped with a propulsion unit, omnidirectional wheels, and a coupler mechanism, enabling assembly so as to form rigid inter-module connections. These drones possess the ability to accommodate various payloads by utilising tethers and contact pads, allowing them to conform to the shape of the packages. The implemented system architecture is composed of four distinct modules, consisting of one parent module and three child modules, all interconnected through a tethering system. This paper aims to demonstrate the capabilities of the tethered multi-drone system by performing coordinated motions of the modules for payload grasping and flights with and without payload.

关键词： Shape Robot kinematics Wheels systems architecture Grasping Propulsion Safety Security Payloads Drones

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A Code-Driven Tutorial on Encrypted control: From Pioneering Realizations to Modern Implementations

A Code-Driven Tutorial on Encrypted Control: From Pioneering...

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European control Conference (ECC)

作者： Nils Schlüter Junsoo Kim Moritz Schulze Darup Dept. of Mechanical Engineering Control and Cyberphysical Systems Group TU Dortmund University Germany Department of Electrical and Information Engineering Seoul National University of Science and Technology South Korea

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

The growing interconnectivity in control systems due to robust wireless communication and cloud usage paves the way for exciting new opportunities such as data-driven control and service-based decision-making. At the same time, connected systems are susceptible to cyberattacks and data leakages. Against this background, encrypted control aims to increase the security and safety of cyber- physical systems. A central goal is to ensure confidentiality of process data during networked controller evaluations, which is enabled by, e.g., homomorphic encryption. However, the integration of advanced cryptographic systems renders the design of encrypted controllers an inter-disciplinary challenge. This code-driven tutorial paper aims to facilitate the access to encrypted control by providing exemplary realizations based on popular homomorphic cryptosystems. In particular, we discuss the encrypted implementation of state feedback and PI controllers using the Paillier, GSW, and CKKS cryptosystem.

关键词： Wireless communication State feedback PI control Process control Europe Tutorials Elliptic curve cryptography

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A code-driven tutorial on encrypted control: From pioneering realizations to modern implementations

arXiv

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arXiv 2024年

作者： Schlüter, Nils Kim, Junsoo Darup, Moritz Schulze The Control and Cyberphysical Systems Group Dept. of Mechanical Engineering TU Dortmund University Germany The Department of Electrical and Information Engineering Seoul National University of Science and Technology Korea Republic of

The growing interconnectivity in control systems due to robust wireless communication and cloud usage paves the way for exciting new opportunities such as data-driven control and service-based decision-making. At the same time, connected systems are susceptible to cyberattacks and data leakages. Against this background, encrypted control aims to increase the security and safety of cyber-physical systems. A central goal is to ensure confidentiality of process data during networked controller evaluations, which is enabled by, e.g., homomorphic encryption. However, the integration of advanced cryptographic systems renders the design of encrypted controllers an interdisciplinary challenge. This code-driven tutorial paper aims to facilitate the access to encrypted control by providing exemplary realizations based on popular homomorphic cryptosystems. In particular, we discuss the encrypted implementation of state feedback and PI controllers using the Paillier, GSW, and CKKS cryptosystem. © 2024, CC BY-NC-ND.

关键词： Cryptography

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Lifted Bilinear Model-based Linear Model Predictive control with Scalability

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IFAC-PapersOnLine 2023年第2期56卷 9405-9410页

作者： Masaki Kanai Masaki Yamakita Controls and Robotics Innovation Center Research & Development Group Ltd. Hitachi Ibaraki Japan Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo Japan

We propose a novel linear model predictive control (MPC) using a lifted bilinear model based on Koopman theory, which is computationally scalable against the dimension of the target system and the prediction horizon length. In MPC, the accuracy of the prediction model determines control performance, but it is a challenge to reduce the computational cost especially when considering nonlinearity of the model. To address this, a method has been proposed which represents the nonlinear input affine system as a lifted bilinear model and utilizes linear approximation and prediction error correction regarding the lifted state to achieve a low-computational-cost linear MPC with equivalent performance to nonlinear MPC. However, although the previous studies have shown its effectiveness for relatively low-order systems, it has not been applied to practical systems with higher dimensions. In this study, we extend the conventional method and propose a scalable linear MPC using a lifted bilinear model and apply it to higher-order nonlinear systems. In this paper, a quadrotor system operating in three-dimensional space is considered and its analytical lifted bilinear model is derived. In the formulation of linear MPC using the lifted bilinear model, an error correction method is newly introduced to feedback error for adjustment of the numerical relationships among the elements in the lifted state. The effectiveness of the proposed method is demonstrated through numerical simulations.

关键词： Model predictive control Koopman theory Lifting linearization Bilinear system

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State Derivative Normalization for Continuous-Time Deep Neural Networks

arXiv

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arXiv 2024年

作者： Weigand, Jonas Beintema, Gerben I. Ulmen, Jonas Görges, Daniel Tóth, Roland Schoukens, Maarten Ruskowski, Martin Chair of Machine Tools and Control Systems RPTU Kaiserslautern The German Research Center for Artificial Intelligence Kaiserslautern Germany Group The Department of Electrical Engineering Eindhoven University of Technology Netherlands The Systems and Control Laboratory The Institute for Computer Science and Control Budapest Hungary Institute for Electromobility RPTU Kaiserslautern Germany

The importance of proper data normalization for deep neural networks is well known. However, in continuous-time state-space model estimation, it has been observed that improper normalization of either the hidden state or hidden state derivative of the model estimate, or even of the time interval can lead to numerical and optimization challenges with deep learning based methods. This results in a reduced model quality. In this contribution, we show that these three normalization tasks are inherently coupled. Due to the existence of this coupling, we propose a solution to all three normalization challenges by introducing a normalization constant at the state derivative level. We show that the appropriate choice of the normalization constant is related to the dynamics of the to-be-identified system and we derive multiple methods of obtaining an effective normalization constant. We compare and discuss all the normalization strategies on a benchmark problem based on experimental data from a cascaded tanks system and compare our results with other methods of the identification literature. © 2024, CC BY-SA.

关键词： Ordinary differential equations

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Enhancing Traffic Flow Forecasting with Spatio-Temporal Information: A Case Study on Highway Networks in Belgium 8

Enhancing Traffic Flow Forecasting with Spatio-Temporal Info...

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8th International Conference on Instrumentation, control, and Automation, ICA 2023

作者： Fathurrahman, Muhammad Farhan Catteeuw, Arne Gautama, Sidharta Aguirre, Angel L. Joelianto, Endra Sutarto, Herman Y. Ghent University Engineering and Product Design Department of Industrial Systems Ghent Belgium Department of Intelligent System Bandung Indonesia FlandersMake@UGent-Corelab ISyE Lommel Belgium Institut Teknologi Bandung Instrumentation and Control Research Group Faculty of Industrial Technology Bandung Indonesia

ISBN: (纸本)9798350301274

As the number of vehicles continues to increase every year, it is crucial to monitor traffic conditions effectively. Traffic forecasting serves as a valuable method in traffic management to support decision making. This study investigates the impact of utilizing spatio-Temporal data for traffic flow forecasting, as opposed to forecasting each location individually. We compare spatio-Temporal Long Short-Term Memory (LSTM), a machine-learning technique that utilizes spatially correlated sensor data in a network, and compare this to conventional LSTM and Seasonal ARIMA (SARIMA). Experiments have been conducted on counting loop data of a highway network in Belgium. We have investigated the performances of the forecasting model for different prediction horizons. The results show that spatial information improves the performance of the forecasting model and reduces the training time required. Further analysis show that the spatio-Temporal LSTM improves majorities of detectors while the minorities detectors are degraded which imply the importances of network selection. The computational load of the spatio-Temporal LSTM model is minimally impacted by the number of sensors in the network thus making it scalable. The results show that longer prediction horizons degrade the forecasting performance but the impact up to a 12 hour-horizon is not significant. © 2023 IEEE.

关键词： Long short-term memory

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Unscented Trajectory Optimization

arXiv

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arXiv 2024年

作者： Ross, I.M. Proulx, R.J. Karpenko, M. Naval Postgraduate School MontereyCA93943 United States Control and Optimization Department of Mechanical and Aerospace Engineering United States Control and Optimization Laboratories Space Systems Academic Group United States Control and Optimization Laboratories Department of Mechanical and Aerospace Engineering United States

In a nutshell, unscented trajectory optimization is the generation of optimal trajectories through the use of an unscented transform. Although unscented trajectory optimization was introduced by the authors about a decade ago, it is reintroduced in this paper as a special instantiation of tychastic optimal control theory. Tychastic optimal control theory (from Tyche, the Greek goddess of chance) avoids the use of a Brownian motion and the resulting Itô calculus even though it uses random variables across the entire spectrum of a problem formulation. This approach circumvents the enormous technical and numerical challenges associated with stochastic trajectory optimization. Furthermore, it is shown how a tychastic optimal control problem that involves nonlinear transformations of the expectation operator can be quickly instantiated using an unscented transform. These nonlinear transformations are particularly useful in managing trajectory dispersions be it associated with path constraints or targeted values of final-time conditions. This paper also presents a systematic and rapid process for formulating and computing the most desirable tychastic trajectory using an unscented transform. Numerical examples are used to illustrate how unscented trajectory optimization may be used for risk reduction and mission recovery caused by uncertainties and failures. © 2024, CC BY-NC-ND.

关键词： Trajectories

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

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

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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

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

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

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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

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