Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655063
L. Dritsas, A. Tzes
Aggressive Robust Load Frequency Control of networked electric power systems necessitates the reduction of system dynamics to account for its controllability. The designed delay-free controller relies on H∞ control enhanced with integral action to account for unknown disturbance loads. The aggressiveness is based on pole clustering within preselected regions while a gain norm minimization scheme is employed to result in small attainable gains. An a posteriori computation for the maximum allowable delay bound against measurement delays reveals the need to correlate this bound to the controller’s aggressiveness. Simulation studies are used to investigate the efficiency of the suggested control scheme.
{"title":"Maximum Allowable Time Delay for Aggressive Load Frequency Control of Networked Electric Power Systems","authors":"L. Dritsas, A. Tzes","doi":"10.23919/ecc54610.2021.9655063","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655063","url":null,"abstract":"Aggressive Robust Load Frequency Control of networked electric power systems necessitates the reduction of system dynamics to account for its controllability. The designed delay-free controller relies on H∞ control enhanced with integral action to account for unknown disturbance loads. The aggressiveness is based on pole clustering within preselected regions while a gain norm minimization scheme is employed to result in small attainable gains. An a posteriori computation for the maximum allowable delay bound against measurement delays reveals the need to correlate this bound to the controller’s aggressiveness. Simulation studies are used to investigate the efficiency of the suggested control scheme.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"328 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115385721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655153
A. Matveev, P. Konovalov
A group of non-communicating robots has to organize themselves into the densest possible barrier across the width of an unknown corridor-like scene and to ensure that this barrier moves along the corridor with a pre-specified speed. The robots do not know their total number and cannot distinguish between the partners, every of them determines the relative positions of neighboring objects only within a short range of visibility. A decentralized control law is presented that solves this mission, individually operates at any robot, is common for all of them and reactive, i.e., immediately converts observation data into control in a reflex-like fashion. Scenarios where the team size is increased or decreased, respectively, in the course of operation are also elaborated. The control law is justified via a mathematically rigorous global convergence result for corridors with straight parallel walls, and its performance is confirmed for more general corridors via computer simulation tests.
{"title":"Decentralized reactive control of robotic teams for cooperative sweep coverage of corridor-like environments*","authors":"A. Matveev, P. Konovalov","doi":"10.23919/ecc54610.2021.9655153","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655153","url":null,"abstract":"A group of non-communicating robots has to organize themselves into the densest possible barrier across the width of an unknown corridor-like scene and to ensure that this barrier moves along the corridor with a pre-specified speed. The robots do not know their total number and cannot distinguish between the partners, every of them determines the relative positions of neighboring objects only within a short range of visibility. A decentralized control law is presented that solves this mission, individually operates at any robot, is common for all of them and reactive, i.e., immediately converts observation data into control in a reflex-like fashion. Scenarios where the team size is increased or decreased, respectively, in the course of operation are also elaborated. The control law is justified via a mathematically rigorous global convergence result for corridors with straight parallel walls, and its performance is confirmed for more general corridors via computer simulation tests.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125231363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655173
Christian Schauer, Gunda Obereigner, L. Re
The adoption of an energy aware driving style, often referred to as ecodriving, is a promising way to save, besides of costs, non-renewable fossil fuels. In a previous paper we presented a two-layer control approach for ecodriving which tracks an optimal speed profile resulting from the first layer under the presence of traffic in the second layer. In this paper, we extend the developed control approach to a convoy of vehicles and determine, whether it leads to safe and stable convoys and whether an increasing number of vehicles within the convoy leads to an increased fuel efficiency. Thereby, we focus on two different prediction methods of the preceding vehicle: in the first case we assume perfect knowledge of the future movement of the preceding vehicle, whereas in the second case we assume the current speed of the preceding vehicle to be constant during the prediction horizon. It is shown that the higher the number of vehicles the more fuel saving from the optimal solution can be recovered.
{"title":"Synchronized Ecodriving Control for Convoys","authors":"Christian Schauer, Gunda Obereigner, L. Re","doi":"10.23919/ecc54610.2021.9655173","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655173","url":null,"abstract":"The adoption of an energy aware driving style, often referred to as ecodriving, is a promising way to save, besides of costs, non-renewable fossil fuels. In a previous paper we presented a two-layer control approach for ecodriving which tracks an optimal speed profile resulting from the first layer under the presence of traffic in the second layer. In this paper, we extend the developed control approach to a convoy of vehicles and determine, whether it leads to safe and stable convoys and whether an increasing number of vehicles within the convoy leads to an increased fuel efficiency. Thereby, we focus on two different prediction methods of the preceding vehicle: in the first case we assume perfect knowledge of the future movement of the preceding vehicle, whereas in the second case we assume the current speed of the preceding vehicle to be constant during the prediction horizon. It is shown that the higher the number of vehicles the more fuel saving from the optimal solution can be recovered.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117245192","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654938
Rijad Alisic, H. Sandberg
Data-driven, model-free control has become popular in recent years, due to their ease of implementation and minimal information requirement about the system. In this paper, we investigate whether the same methods could be used by an adversary to synthesize undetectable data-injection attacks on cyber-physical systems using Willems’ Fundamental Lemma. We show that if the adversary is able to upper bound the order of a linear, time-invariant system and read all its inputs and outputs, then the adversary will be able to generate undetectable attack signals in the form of covert attacks. Additionally, we provide conditions on the disclosed data set that enable the adversary to generate zero dynamics attacks. These conditions give operators insights into when enough information about the system has been revealed for an adversary to conduct an undetectable attack. Finally, the different attack strategies are verified through a numerical example.
{"title":"Data-injection Attacks Using Historical Inputs and Outputs","authors":"Rijad Alisic, H. Sandberg","doi":"10.23919/ecc54610.2021.9654938","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654938","url":null,"abstract":"Data-driven, model-free control has become popular in recent years, due to their ease of implementation and minimal information requirement about the system. In this paper, we investigate whether the same methods could be used by an adversary to synthesize undetectable data-injection attacks on cyber-physical systems using Willems’ Fundamental Lemma. We show that if the adversary is able to upper bound the order of a linear, time-invariant system and read all its inputs and outputs, then the adversary will be able to generate undetectable attack signals in the form of covert attacks. Additionally, we provide conditions on the disclosed data set that enable the adversary to generate zero dynamics attacks. These conditions give operators insights into when enough information about the system has been revealed for an adversary to conduct an undetectable attack. Finally, the different attack strategies are verified through a numerical example.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124890930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655138
G. Cardona, D. Tellez-Castro, J. Calderon, E. Mojica-Nava
This paper presents the problem of cooperative transportation of cable-suspended load by four quadrotors. Quadrotors and the load in the system are modeled using the Newton-Euler approach. A Distributed Model Reference Adaptive Control with σ-modification is applied to synchronize the states of the heterogeneous and unknown quadrotors model. Quadrotors are subject to disturbances as input uncertainties and unstructured dynamic uncertainties that are overcome thanks to the σ-modification. An additional term is added to the control signal to minimize the efforts generated by the suspended load through the maintenance of the desired formation. Finally, quadrotors make use of geometric control to reach the attitude need it. The stability is demonstrated by the Lyapunov method, and the functioning of the algorithm is shown through simulation.
{"title":"Adaptive Multi-Quadrotor Control for Cooperative Transportation of a Cable-Suspended Load","authors":"G. Cardona, D. Tellez-Castro, J. Calderon, E. Mojica-Nava","doi":"10.23919/ecc54610.2021.9655138","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655138","url":null,"abstract":"This paper presents the problem of cooperative transportation of cable-suspended load by four quadrotors. Quadrotors and the load in the system are modeled using the Newton-Euler approach. A Distributed Model Reference Adaptive Control with σ-modification is applied to synchronize the states of the heterogeneous and unknown quadrotors model. Quadrotors are subject to disturbances as input uncertainties and unstructured dynamic uncertainties that are overcome thanks to the σ-modification. An additional term is added to the control signal to minimize the efforts generated by the suspended load through the maintenance of the desired formation. Finally, quadrotors make use of geometric control to reach the attitude need it. The stability is demonstrated by the Lyapunov method, and the functioning of the algorithm is shown through simulation.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123419336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654846
Lejun Wang, X. Lai, P. Zhang, Min Wu
The control objective of a Pendubot is always to swing its endpoint up from the vertical downward equilibrium point (VDEP) and to stay it at the vertical upward equilibrium point (VUEP). This paper proposes a motion control approach based on the integrated trajectory to achieve the above control objective with only one controller. First, an integration trajectory with two parts is designed for the Pendubot. We plan the first part trajectory with variable parameters, and optimize these variable parameters by applying the genetic algorithm (GA) to make all links move simultaneously from their starting states to their target states. We plan the second part trajectory to make all links remain at the target states. Then, we build the linear time-varying error system based on the integration trajectory, and design a global tracking controller by using the linear system control method to track the integration trajectory. By this way, the control objective of the Pendubot is realized. Finally, the simulations illustrate the validity and superiority of the proposed method.
{"title":"Motion Control Strategy Based on Integrated Trajectory for the Pendubot","authors":"Lejun Wang, X. Lai, P. Zhang, Min Wu","doi":"10.23919/ecc54610.2021.9654846","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654846","url":null,"abstract":"The control objective of a Pendubot is always to swing its endpoint up from the vertical downward equilibrium point (VDEP) and to stay it at the vertical upward equilibrium point (VUEP). This paper proposes a motion control approach based on the integrated trajectory to achieve the above control objective with only one controller. First, an integration trajectory with two parts is designed for the Pendubot. We plan the first part trajectory with variable parameters, and optimize these variable parameters by applying the genetic algorithm (GA) to make all links move simultaneously from their starting states to their target states. We plan the second part trajectory to make all links remain at the target states. Then, we build the linear time-varying error system based on the integration trajectory, and design a global tracking controller by using the linear system control method to track the integration trajectory. By this way, the control objective of the Pendubot is realized. Finally, the simulations illustrate the validity and superiority of the proposed method.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126619671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ECC54610.2021.9655136
Konstantin Avrachenkov, V. Gaitsgory, Lucas Gamertsfelder
In this paper, we study asymptotic properties of problems of control of stochastic discrete time systems with time averaging and time discounting optimality criteria, and we establish that the Cesàro and Abel limits of the optimal values in such problems can be estimated with the help of a certain infinite-dimensional (ID) linear programming (LP) problem and its dual.
{"title":"LP Based Bounds for Cesàro and Abel Limits of the Optimal Values in Non-ergodic Stochastic Systems","authors":"Konstantin Avrachenkov, V. Gaitsgory, Lucas Gamertsfelder","doi":"10.23919/ECC54610.2021.9655136","DOIUrl":"https://doi.org/10.23919/ECC54610.2021.9655136","url":null,"abstract":"In this paper, we study asymptotic properties of problems of control of stochastic discrete time systems with time averaging and time discounting optimality criteria, and we establish that the Cesàro and Abel limits of the optimal values in such problems can be estimated with the help of a certain infinite-dimensional (ID) linear programming (LP) problem and its dual.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115246554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654946
Azwirman Gusrialdi, Z. Qu
This paper presents data-driven power iteration to distributively estimate the dominant eigenvalues of an unknown linear time-invariant system. The proposed strategy only requires a single trajectory data or measurements. Furthermore, in order to perform the distributed estimation, the communication network topology can be chosen to be any strongly connected directed graphs. The proposed data-driven power iteration is demonstrated using several numerical examples and is then applied to estimate the generalized algebraic connectivity of cooperative systems and to control the epidemic spreading.
{"title":"Distributed Data-Driven Power Iteration for Strongly Connected Networks","authors":"Azwirman Gusrialdi, Z. Qu","doi":"10.23919/ecc54610.2021.9654946","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654946","url":null,"abstract":"This paper presents data-driven power iteration to distributively estimate the dominant eigenvalues of an unknown linear time-invariant system. The proposed strategy only requires a single trajectory data or measurements. Furthermore, in order to perform the distributed estimation, the communication network topology can be chosen to be any strongly connected directed graphs. The proposed data-driven power iteration is demonstrated using several numerical examples and is then applied to estimate the generalized algebraic connectivity of cooperative systems and to control the epidemic spreading.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116008763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655010
J. Maree, S. Gros, H. Walnum
An adaptive control and system identification framework is presented. This framework is applied for closed-loop system identification and adaptive heating demand-response control for residential buildings. The building envelope, considered for control purposes within the context of a Model Predictive Control (MPC) strategy, is based on the simplified Resistive-Capacitive analogy. These models characterized with parametric and state uncertainty, are adapted by incorporating, on-line, learning-based Moving Horizon Estimation (MHE) for the joint state-parameter based estimation problem. Learning-based Moving Horizon Estimation, in this context, incorporates a reinforcement learning (RL) strategy. The latter entails a Q-factor parametrized value function approximation of the MHE arrival cost which is adapted (learned) on-line using a temporal difference algorithm based on the MPC control policy.
{"title":"Adaptive control and identification for heating demand-response in buildings","authors":"J. Maree, S. Gros, H. Walnum","doi":"10.23919/ecc54610.2021.9655010","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655010","url":null,"abstract":"An adaptive control and system identification framework is presented. This framework is applied for closed-loop system identification and adaptive heating demand-response control for residential buildings. The building envelope, considered for control purposes within the context of a Model Predictive Control (MPC) strategy, is based on the simplified Resistive-Capacitive analogy. These models characterized with parametric and state uncertainty, are adapted by incorporating, on-line, learning-based Moving Horizon Estimation (MHE) for the joint state-parameter based estimation problem. Learning-based Moving Horizon Estimation, in this context, incorporates a reinforcement learning (RL) strategy. The latter entails a Q-factor parametrized value function approximation of the MHE arrival cost which is adapted (learned) on-line using a temporal difference algorithm based on the MPC control policy.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116462548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9654937
H. Arezki, Khadidja Chaib-Draa, A. Zemouche, Chee Pin Tan
This paper deals with the problem of exact finite-time estimation for a class of switched discrete-time linear systems with delayed-output measurements. Before tackling switched systems, preliminary results on exact and finite-time estimation of linear systems with delayed outputs are established. Then an extension to a class of switched systems with delayed output measurements is provided. Two estimation algorithms are proposed: the first one is based on explicit computation of the system state by using a combination of delayed inputs/outputs, while the second algorithm uses two asymptotic observers linked by a mathematical relation. A numerical example is given to illustrate the validity and effectiveness of the proposed algorithms.
{"title":"Finite-Time Estimation of a Class of Switched Discrete-Time Linear Systems Subject to Delayed-Output Measurements","authors":"H. Arezki, Khadidja Chaib-Draa, A. Zemouche, Chee Pin Tan","doi":"10.23919/ecc54610.2021.9654937","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654937","url":null,"abstract":"This paper deals with the problem of exact finite-time estimation for a class of switched discrete-time linear systems with delayed-output measurements. Before tackling switched systems, preliminary results on exact and finite-time estimation of linear systems with delayed outputs are established. Then an extension to a class of switched systems with delayed output measurements is provided. Two estimation algorithms are proposed: the first one is based on explicit computation of the system state by using a combination of delayed inputs/outputs, while the second algorithm uses two asymptotic observers linked by a mathematical relation. A numerical example is given to illustrate the validity and effectiveness of the proposed algorithms.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122358265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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