Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655185
Tobias Nagel, Marco F. Huber
Identifying the state space representation of a dynamical system during usage enables a controller to adapt quickly in a changing environment. We propose a new method for identifying linear time-invariant (LTI) systems online based on the measurement of input-output data. Therefore, we implement the calculation of a system response in a machine learning framework and use an autoencoder-related approach to find a neural network which performs a system identification by one single forward pass. This is computationally efficient and can be performed online during usage. We validate the approach by identifying the wear of a robot leg.
{"title":"Autoencoder-Inspired Identification of LTI Systems","authors":"Tobias Nagel, Marco F. Huber","doi":"10.23919/ecc54610.2021.9655185","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655185","url":null,"abstract":"Identifying the state space representation of a dynamical system during usage enables a controller to adapt quickly in a changing environment. We propose a new method for identifying linear time-invariant (LTI) systems online based on the measurement of input-output data. Therefore, we implement the calculation of a system response in a machine learning framework and use an autoencoder-related approach to find a neural network which performs a system identification by one single forward pass. This is computationally efficient and can be performed online during usage. We validate the approach by identifying the wear of a robot leg.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"16 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":"129178525","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/ecc54610.2021.9655002
M. Sadabadi
This paper develops a resilient distributed control mechanism that ensures voltage regulation and proportional current sharing in DC microgrids while under unknown cyber-attacks. The attackers are assumed to inject false data to the actuators of microgrid control systems. The proposed resilient control algorithm steers the DC microgrid as close as possible to the desired equilibrium regardless of the potential unknown attacks and guarantees average voltage regulation and proportional current sharing in DC microgrids. The proposed resilient control design does not require any knowledge on the nature or the locations of cyber-attacks. By virtue of a graph theoretical approach and a Lyapunov-based framework, it is shown that the proposed resilient control strategy guarantees the stability of DC microgrids. The efficiency and resilience of the proposed distributed control approach is demonstrated via simulation scenarios on a DC microgrid consisting of eight distributed generation units while under attack.
{"title":"Attack-Resilient Distributed Control in DC Microgrids","authors":"M. Sadabadi","doi":"10.23919/ecc54610.2021.9655002","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655002","url":null,"abstract":"This paper develops a resilient distributed control mechanism that ensures voltage regulation and proportional current sharing in DC microgrids while under unknown cyber-attacks. The attackers are assumed to inject false data to the actuators of microgrid control systems. The proposed resilient control algorithm steers the DC microgrid as close as possible to the desired equilibrium regardless of the potential unknown attacks and guarantees average voltage regulation and proportional current sharing in DC microgrids. The proposed resilient control design does not require any knowledge on the nature or the locations of cyber-attacks. By virtue of a graph theoretical approach and a Lyapunov-based framework, it is shown that the proposed resilient control strategy guarantees the stability of DC microgrids. The efficiency and resilience of the proposed distributed control approach is demonstrated via simulation scenarios on a DC microgrid consisting of eight distributed generation units while under attack.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"42 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":"121575865","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/ecc54610.2021.9655016
Christopher Reinartz, Thomas Thuesen Enevoldsen, R. Galeazzi, Ole Ravn
This paper presents a planning framework for discrete planning of human operations in highly automated industrial plants, where manual and automatic control coexist. Based solely on qualitative knowledge of the controlled continuous process represented through signed directed graphs, the planner exploits a greedy algorithm to determine the optimal action for the human operator upon changes in the process’ operating conditions or reconfiguration of the control system due to faulty conditions. The planner results in a decision support tool that instructs the human operator on the best course of action. The planning framework and the resulting planner are demonstrated on a quadruple-tank system.
{"title":"A Causal Model-based Planner for the Reconfiguration of Continuous Processes","authors":"Christopher Reinartz, Thomas Thuesen Enevoldsen, R. Galeazzi, Ole Ravn","doi":"10.23919/ecc54610.2021.9655016","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655016","url":null,"abstract":"This paper presents a planning framework for discrete planning of human operations in highly automated industrial plants, where manual and automatic control coexist. Based solely on qualitative knowledge of the controlled continuous process represented through signed directed graphs, the planner exploits a greedy algorithm to determine the optimal action for the human operator upon changes in the process’ operating conditions or reconfiguration of the control system due to faulty conditions. The planner results in a decision support tool that instructs the human operator on the best course of action. The planning framework and the resulting planner are demonstrated on a quadruple-tank system.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"1 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":"126030121","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/ecc54610.2021.9655227
Yuning Jiang, P. Listov, Colin N. Jones
This paper presents a block BFGS based distributed optimization approach for nonlinear model predictive control (NMPC). The proposed method is a variant of the augmented Lagrangian based alternating direction inexact Newton method (ALADIN), which achieves a locally super-linear convergence rate. To deal with the NMPC problem in continuous time by employing the proposed method, we elaborate on a systematic implementation based on the C++ library , PolyMPC,. The performance and advantages of the proposed method are illustrated by applying the algorithm to a benchmark continuously stirred tank reactor case study.
{"title":"Block BFGS Based Distributed Optimization for NMPC Using PolyMPC","authors":"Yuning Jiang, P. Listov, Colin N. Jones","doi":"10.23919/ecc54610.2021.9655227","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655227","url":null,"abstract":"This paper presents a block BFGS based distributed optimization approach for nonlinear model predictive control (NMPC). The proposed method is a variant of the augmented Lagrangian based alternating direction inexact Newton method (ALADIN), which achieves a locally super-linear convergence rate. To deal with the NMPC problem in continuous time by employing the proposed method, we elaborate on a systematic implementation based on the C++ library , PolyMPC,. The performance and advantages of the proposed method are illustrated by applying the algorithm to a benchmark continuously stirred tank reactor case study.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"75 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":"121096946","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/ecc54610.2021.9654877
C. Teodorescu, Irving Caplan, Harry Eberle, T. Carlson
This paper refines a physically-inspired model governing the dynamic motion of a vehicle. We present a method used to perform experimental parameter calibration, and then use this model to build an observer (an extended Kalman filter). Experimental results with a robotic vehicle fitted with a prototype kit focus on recovering the truthful real-world information in the context of systematic errors (a faulty wheel encoder sensor), randomly occurring errors (a faulty ultrasonic sensor) and simplifying model assumptions (e.g. usage of two identical motors). We show that our model-based approach is able to perform reasonably well even under these extreme circumstances.
{"title":"Model-based sensor fusion and filtering for localization of a semi-autonomous robotic vehicle*","authors":"C. Teodorescu, Irving Caplan, Harry Eberle, T. Carlson","doi":"10.23919/ecc54610.2021.9654877","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654877","url":null,"abstract":"This paper refines a physically-inspired model governing the dynamic motion of a vehicle. We present a method used to perform experimental parameter calibration, and then use this model to build an observer (an extended Kalman filter). Experimental results with a robotic vehicle fitted with a prototype kit focus on recovering the truthful real-world information in the context of systematic errors (a faulty wheel encoder sensor), randomly occurring errors (a faulty ultrasonic sensor) and simplifying model assumptions (e.g. usage of two identical motors). We show that our model-based approach is able to perform reasonably well even under these extreme circumstances.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"77 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":"121244170","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/ecc54610.2021.9655078
Nadia Rosero, J. Martínez, Maxime Chorin, S. Vergès
This paper presents a set-membership observer for the estimation of carbon dioxide production during cycling. The observer uses measurements of oxygen consumption and power at pedal level together with a discrete-time linear model of gas exchange dynamics. The real process is assumed to be disturbed by unknown but bounded disturbances. The proposed observer provides a deterministic interval which contains the real state. Since the excess of carbon dioxide production is linked to the overtake of the anaerobic threshold, the observer can be applied to predict the physiological state of the cyclist by using a reduced number of gas exchange sensors. The methodology is illustrated and validated using experimental data.
{"title":"Estimation of carbon-dioxide production during cycling by using a set-membership observer","authors":"Nadia Rosero, J. Martínez, Maxime Chorin, S. Vergès","doi":"10.23919/ecc54610.2021.9655078","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655078","url":null,"abstract":"This paper presents a set-membership observer for the estimation of carbon dioxide production during cycling. The observer uses measurements of oxygen consumption and power at pedal level together with a discrete-time linear model of gas exchange dynamics. The real process is assumed to be disturbed by unknown but bounded disturbances. The proposed observer provides a deterministic interval which contains the real state. Since the excess of carbon dioxide production is linked to the overtake of the anaerobic threshold, the observer can be applied to predict the physiological state of the cyclist by using a reduced number of gas exchange sensors. The methodology is illustrated and validated using experimental data.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"39 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":"125166664","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/ecc54610.2021.9654904
Tobias Posielek, J. Reger
We consider the problem of spacecraft attitude determination using temperature data. Common algorithms fuse multiple temperature measurements to reconstruct the attitude. However, a single sensor already contains a lot of information due to the temperature dynamics inherent to the nonlinear structure. In this work a rigorous observability analysis is carried out to determine the configurations in which the combination of a single temperature sensor with angular velocity measurements is sufficient for estimating the entire attitude. We evaluate the observability properties of the different configurations and give recommendations for the best configurations.
{"title":"Observability Analysis for Spacecraft Attitude Determination using a Single Temperature Sensor*","authors":"Tobias Posielek, J. Reger","doi":"10.23919/ecc54610.2021.9654904","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654904","url":null,"abstract":"We consider the problem of spacecraft attitude determination using temperature data. Common algorithms fuse multiple temperature measurements to reconstruct the attitude. However, a single sensor already contains a lot of information due to the temperature dynamics inherent to the nonlinear structure. In this work a rigorous observability analysis is carried out to determine the configurations in which the combination of a single temperature sensor with angular velocity measurements is sufficient for estimating the entire attitude. We evaluate the observability properties of the different configurations and give recommendations for the best configurations.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"430 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114048606","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/ecc54610.2021.9655060
T. Arauz, J. Maestre, A. Cetinkaya, E. Camacho
A PI design method for faulty networks is provided based on Linear Matrix Inequalities (LMIs). Feedback controllers for irrigation canals are designed based on LMIs, but sparsity constraints are also imposed to make zero the feedback control law elements not corresponding to the tuning PI parameters. Therefore, the design method is halfway between a PI controller and an optimal feedback control law, also providing stability guarantees up to a maximum probability of packet losses. The objective of the downstream controller is to maintain the water levels upstream from each downstream check structure of each canal pool, while gravity-offtake gates satisfy downstream water demands. The proposed approach is tested using the irrigation system of ASCE Test Canal 1 and compared with other tuning methods via simulation. Our results show that the design method can be a useful tool when dealing with control systems under faulty networks.
{"title":"Model-based PI design for irrigation canals with faulty communication networks","authors":"T. Arauz, J. Maestre, A. Cetinkaya, E. Camacho","doi":"10.23919/ecc54610.2021.9655060","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655060","url":null,"abstract":"A PI design method for faulty networks is provided based on Linear Matrix Inequalities (LMIs). Feedback controllers for irrigation canals are designed based on LMIs, but sparsity constraints are also imposed to make zero the feedback control law elements not corresponding to the tuning PI parameters. Therefore, the design method is halfway between a PI controller and an optimal feedback control law, also providing stability guarantees up to a maximum probability of packet losses. The objective of the downstream controller is to maintain the water levels upstream from each downstream check structure of each canal pool, while gravity-offtake gates satisfy downstream water demands. The proposed approach is tested using the irrigation system of ASCE Test Canal 1 and compared with other tuning methods via simulation. Our results show that the design method can be a useful tool when dealing with control systems under faulty networks.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"21 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":"125629934","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/ecc54610.2021.9654845
Yuan Wang, H. Ishii, François Bonnet, Xavier D'efago
This paper addresses novel consensus problems for multi-agent systems operating in a pandemic environment where infectious diseases are spreading. The dynamics of the diseases follows the susceptible-infected-recovered (SIR) model, where the infection induces faulty behaviors in the agents and affects their state values. To ensure resilient consensus among the noninfectious agents, the difficulty is that the number of infectious agents changes over time. We assume that a high-level policy maker announces the level of infection in real-time, which can be adopted by the agents for their preventative measures. It is demonstrated that this problem can be formulated as resilient consensus in the presence of the socalled mobile malicious models, where the mean subsequence reduced (MSR) algorithms are known to be effective. We characterize sufficient conditions on the network structures for different policies regarding the announced infection levels and the strength of the pandemic. Numerical simulations are carried out for random graphs to verify the effectiveness of our approach.
{"title":"Resilient Consensus Against Epidemic Malicious Attacks","authors":"Yuan Wang, H. Ishii, François Bonnet, Xavier D'efago","doi":"10.23919/ecc54610.2021.9654845","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654845","url":null,"abstract":"This paper addresses novel consensus problems for multi-agent systems operating in a pandemic environment where infectious diseases are spreading. The dynamics of the diseases follows the susceptible-infected-recovered (SIR) model, where the infection induces faulty behaviors in the agents and affects their state values. To ensure resilient consensus among the noninfectious agents, the difficulty is that the number of infectious agents changes over time. We assume that a high-level policy maker announces the level of infection in real-time, which can be adopted by the agents for their preventative measures. It is demonstrated that this problem can be formulated as resilient consensus in the presence of the socalled mobile malicious models, where the mean subsequence reduced (MSR) algorithms are known to be effective. We characterize sufficient conditions on the network structures for different policies regarding the announced infection levels and the strength of the pandemic. Numerical simulations are carried out for random graphs to verify the effectiveness of our approach.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"40 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114012849","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/ecc54610.2021.9655178
Liang Lu, D. Limón, I. Kolmanovsky
This paper considers a self-triggered MPC controller design strategy for tracking piecewise constant reference signals. The proposed triggering scheme is based on the relaxed dynamic programming inequality and the idea of reference governor; such a scheme computes both the updated control action and the next triggering time. The resulting self-triggered tracking MPC control law preserves stability and constraint satisfaction and also satisfies certain a priori chosen performance requirements without the need to impose stabilizing terminal conditions. An illustrative example shows the effectiveness of this self-triggered tracking MPC implementation.
{"title":"Self-triggered MPC with Performance Guarantee for Tracking Piecewise Constant Reference Signals","authors":"Liang Lu, D. Limón, I. Kolmanovsky","doi":"10.23919/ecc54610.2021.9655178","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655178","url":null,"abstract":"This paper considers a self-triggered MPC controller design strategy for tracking piecewise constant reference signals. The proposed triggering scheme is based on the relaxed dynamic programming inequality and the idea of reference governor; such a scheme computes both the updated control action and the next triggering time. The resulting self-triggered tracking MPC control law preserves stability and constraint satisfaction and also satisfies certain a priori chosen performance requirements without the need to impose stabilizing terminal conditions. An illustrative example shows the effectiveness of this self-triggered tracking MPC implementation.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"47 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":"122539783","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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