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Model reference adaptive control for state and input constrained linear systems

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arXiv 2023年

作者： Chattopadhyay, Sudipta Sukumar, Srikant Natarajan, Vivek Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model reference adaptive control (MRAC) framework have been proposed to address input constraints in uncertain linear systems. Considering the infeasibility of arbitrary reference trajectories, reference modification has been implemented in the case of input constraints in literature. The resulting conditions on the reference and input signals are difficult to verify online. Similar results on state and input constraints together have also been proposed, albeit resulting in more complex and unverifiable conditions on the control. The primary objective of this article is therefore to account for state and input constraints in uncertain linear systems by providing easily verifiable conditions on the control and reference. A combination of reference modification and barrier Lyapunov methods in adaptive control are employed to arrive at these results. Copyright © 2023, The Authors. All rights reserved.

关键词： Lyapunov methods

A low-cost Framework for Decentralized Autonomous Intersection Management

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arXiv 2023年

作者： Katole, Rugved Sinha, Arpita The Systems and Control Engineering department Indian Institute Of Technology Bombay India

This paper addresses the traffic management problem for autonomous vehicles at intersections without traffic signals. In the current system, a road junction has no traffic signals when the traffic volume is low to medium. Installing infrastructure at each unsignalled crossing to coordinate autonomous cars can be formidable. We propose a novel low-cost solution strategy where the vehicles use a harmony matrix to find the best possible combination of the cars to cross the intersection without any crashes. The harmony matrix defines the connection between different vehicle maneuvers and is queried online for intersection management. We maximize the throughput of the intersection by solving a maximal clique problem formulated based on the vehicles present at the intersection. The proposed algorithm relies on the intent perceived by the autonomous vehicles. We compare our work with a communication-based strategy that uses V2I communication protocols, and through extensive simulation, we showed that our algorithm is comparable when the traffic volume is less than 500 PCUs/hr/lane. © 2023, CC BY-SA.

关键词： Autonomous vehicles

Zero-Error Communication with an Influencer

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Zero-Error Communication with an Influencer

National Conference on Communications (NCC)

作者： Reema Deori Ankur A. Kulkarni Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

We study a problem of communication between an influencer and a receiver where the influencer has access to a sequence of facts that the receiver is interested in knowing with zero error. The influencer sends a signal to the receiver for every such sequence and it obtains a utility that is a function of the true sequence and the sequence deduced by the receiver, and incurs a cost that is a function of the true sequence and the signal sent. The influencer may choose to induce ambiguity by sending a common signal for multiple sequences, and by performing coding. The resulting problem is studied as a Stackelberg game and operational strategies are obtained as the equilibrium of this game. Our main contribution is the study of informativeness – the minimum amount of correct information that the receiver can obtain in any such equilibrium. We characterize informativeness as the limiting value of the list chromatic number of a sequence of graphs and obtain single-letter bounds on it. Our results show that the presence of cost increases informativeness and when a certain single-letter condition holds, there is no benefit to coding in the costless case.

关键词： Costs Limiting Receivers Games Encoding

Network Small Gain Theorem

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Network Small Gain Theorem

European control Conference (ECC)

作者： Swati Singh Shashi Ranjan Kumar Dwaipayan Mukherjee Debasattam Pal Department of Aerospace Engineering Intelligent Systems and Control Lab Indian Institute of Technology Bombay Powai Mumbai India Department of Electrical Engineering Indian Institute of Technology Bombay Mumbai India

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

The network stabilization problem in a heterogeneous multi-agent system with diffusive connections is investigated in this paper. It is demonstrated that, under the assumption that the agents are finite-gain $\mathcal{L}_{2}$ -stable and zero state observable, the interconnection is zero input asymptotically stable, and all agents' dynamics converge to the origin. The stability analysis is based on small-gain theory. We provide the maximum bound on the $\mathcal{L}_{2}$ -gain of the controller using various optimization methods when the $\mathcal{L}_{2}$ -gain of each agent is known. A study on the variation of $\mathcal{L}_{2}$ -gain bound of the controller with the Laplacian eigenvalues of the underlying graph is provided. Numerical examples, which support and illustrate the analytical results, are also included.

关键词： Couplings Upper bound Laplace equations Simulation Optimization methods Europe Stability analysis

Distributed alternating gradient descent for convex semi-infinite programs over a network

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arXiv 2024年

作者： Aravind, Ashwin Chatterjee, Debasish Cherukuri, Ashish The Centre for Systems and Control Engineering Indian Institute of Technology Bombay India The Engineering and Technology Institute Groningen University of Groningen Groningen Netherlands

This paper presents a first-order distributed algorithm for solving a convex semi-infinite program (SIP) over a time-varying network. In this setting, the objective function associated with the optimization problem is a summation of a set of functions, each held by one node in a network. The semi-infinite constraint, on the other hand, is known to all agents. The nodes collectively aim to solve the problem using local data about the objective and limited communication capabilities depending on the network topology. Our algorithm is built on three key ingredients: consensus step, gradient descent in the local objective, and local gradient descent iterations in the constraint at a node when the estimate violates the semi-infinite constraint. The algorithm is constructed, and its parameters are prescribed in such a way that the iterates held by each agent provably converge to an optimizer. That is, as the algorithm progresses, the estimates achieve consensus, and the constraint violation and the error in the optimal value are bounded above by vanishing terms. A simulation example illustrates our *** Codes 90C34, 93A14 © 2024, CC BY.

关键词： Consensus algorithm

EXPLOITING EQUIVARIANCE IN THE DESIGN OF TRACKING controlLERS FOR EULER-POINCARE systems ON MATRIX LIE groupS

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arXiv 2024年

作者： Hampsey, Matthew Banavar, Ravi van Goor, Pieter Mahony, Robert Systems Theory and Robotics Group Australian National University ACT2601 Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the heart of observer design and recent advances in the study of equivariant systems have provided a template for global error construction that exploits the symmetry structure of a group action if such a structure exists. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system and symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie-group and leverage this to define momentum and configuration errors for trajectory tracking drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves "Euler-Poincare like" and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie-group state space. Copyright © 2024, The Authors. All rights reserved.

关键词： Lie groups

Scalable and low-cost remote lab platforms: Teaching industrial robotics using open-source tools and understanding its social implications

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arXiv 2024年

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab. Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © 2024, CC BY.

关键词： Costs

The Quantum Advantage in Binary Teams and the Coordination Dilemma: Part I

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arXiv 2023年

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

We have shown that entanglement assisted stochastic strategies allow access to strategic measures beyond the classically correlated measures accessible through passive common randomness, and thus attain a quantum advantage in decentralised control. In this two part series of articles, we investigate the decision theoretic origins of the quantum advantage within a broad superstructure of problem classes. Each class in our binary team superstructure corresponds to a parametric family of cost functions with a distinct algebraic structure. In this part, identify the only problem classes that benefit from quantum strategies. We find that these cost structures admit a special decision-theoretic feature – ‘the coordination dilemma’. Our analysis hence reveals some intuition towards the utility of non-local quantum correlations in decentralised *** Codes 93E20 © 2023, CC BY.

关键词： Cost functions

Beyond Common Randomness: Quantum Resources in Decentralized control

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Beyond Common Randomness: Quantum Resources in Decentralized...

IEEE Conference on Decision and control

作者： Shashank A. Deshpande Ankur A. Kulkarni Department of Aeronautics and Astronautics DINaMo group Massachusetts Institute of Technology Department of Systems and Control Engineering Indian Institute of Technology Bombay Mumbai

Ananthram and Borkar [1] showed that there exist strategies that are consistent with the requirements of a decentralized information structure but are unattainable through the use of common randomness. This opens the question of discovering physically realisable mechanisms that provide access to this region of the strategic space. In our previous work we introduced a class of quantum strategies that allow such access in a two-agent setting. In this paper, we consider the problem of optimal allocation of a $k$ -partite quantum resource amongst $n$ agents, $k < n$ . We study the problem of decentralized estimation of a binary source by agents that are informed through independent binary symmetric channels, and face a cost that is homogeneous in their actions. We show a $k$ -partite quantum resource produces the maximum advantage over classical strategies when allocated to the agents with the $k$ most reliable channels.

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