Pub Date : 2021-06-29DOI: 10.23919/ecc54610.2021.9655143
S. Mousavi, Anastasios Kouvelas
In this paper, we examine functional controllability for a family of linear time-invariant (LTI) networks having the same wiring diagrams. When a system is functional controllable, with a suitable choice of input, its output can follow the desired trajectory over a time period. In this work, we present sufficient combinatorial conditions for strong structural functional controllability of networks, that ensure the functional controllability of all LTI systems defined over the same system graph. Also, by defining a set of target nodes, a procedure for selecting a set of control nodes, rendering the network strongly structurally functional controllable, is proposed. A comparison between the results of this work and the existing results on strong structural output controllability and weak structural functional controllability is illustrated through some examples.
{"title":"Strong Structural Functional Controllability of Networks","authors":"S. Mousavi, Anastasios Kouvelas","doi":"10.23919/ecc54610.2021.9655143","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655143","url":null,"abstract":"In this paper, we examine functional controllability for a family of linear time-invariant (LTI) networks having the same wiring diagrams. When a system is functional controllable, with a suitable choice of input, its output can follow the desired trajectory over a time period. In this work, we present sufficient combinatorial conditions for strong structural functional controllability of networks, that ensure the functional controllability of all LTI systems defined over the same system graph. Also, by defining a set of target nodes, a procedure for selecting a set of control nodes, rendering the network strongly structurally functional controllable, is proposed. A comparison between the results of this work and the existing results on strong structural output controllability and weak structural functional controllability is illustrated through some examples.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"14 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":"115360458","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/ecc54610.2021.9655149
Johannes Westermann, Antonio Zea, U. Hanebeck
Adaptive sampling methods have been widely used for meta modeling, when dealing with expensive-to-evaluate experiments in practical design and optimization tasks to approximate their performance measure. Existing methods try to minimize the global model error in various ways. However, there is still no general method for the denser sampling of regions with high performance. In this work, we introduce a new adaptive sampling approach that samples regions of high performance more densely, while also exploring unseen regions. A Gaussian process is used as meta model and a variance-based measure is defined for computing the adaptive sample points. Furthermore, Voronoi tessellation is used to reduce the complexity for application in high-dimensional design spaces. The proposed approach allows for higher model accuracy in regions of high performance by efficiently placing the available samples.
{"title":"Adaptive Sampling for Global Meta Modeling Using a Gaussian Process Variance Measure","authors":"Johannes Westermann, Antonio Zea, U. Hanebeck","doi":"10.23919/ecc54610.2021.9655149","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655149","url":null,"abstract":"Adaptive sampling methods have been widely used for meta modeling, when dealing with expensive-to-evaluate experiments in practical design and optimization tasks to approximate their performance measure. Existing methods try to minimize the global model error in various ways. However, there is still no general method for the denser sampling of regions with high performance. In this work, we introduce a new adaptive sampling approach that samples regions of high performance more densely, while also exploring unseen regions. A Gaussian process is used as meta model and a variance-based measure is defined for computing the adaptive sample points. Furthermore, Voronoi tessellation is used to reduce the complexity for application in high-dimensional design spaces. The proposed approach allows for higher model accuracy in regions of high performance by efficiently placing the available samples.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"254 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":"114711998","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/ecc54610.2021.9655166
D. Saccani, L. Fagiano
A novel model predictive control (MPC) formulation, named multi-trajectory MPC (mt-MPC), is presented and applied to the problem of autonomous navigation of an unmanned aerial vehicle (UAV) in an unknown environment. The UAV is equipped with a LiDAR sensor, providing only a partial description of the surroundings and resulting in time-varying constraints as the vehicle navigates among the obstacles. The control system layout is hierarchical: the low-level loops stabilize the vehicle’s trajectories and track the set-points commanded by the high-level, mt-MPC controller. The latter is required to plan the UAV trajectory trading off safety, i.e. to avoid collisions with the uncertain obstacles, and exploitation, i.e. to reach an assigned target location. To achieve this goal, mt-MPC considers different future state trajectories in the same Finite Horizon Optimal Control Problem (FHOCP), enabling a partial decoupling between constraint satisfaction (safety) and cost function minimization (exploitation). Recursive feasibility and, consequently, persistent obstacle avoidance guarantees are derived under the assumption of a time invariant environment. The performance of the approach is studied in simulation and compared with that of a standard MPC, showing good improvement.
{"title":"Autonomous UAV Navigation in an Unknown Environment via Multi-Trajectory Model Predictive Control","authors":"D. Saccani, L. Fagiano","doi":"10.23919/ecc54610.2021.9655166","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655166","url":null,"abstract":"A novel model predictive control (MPC) formulation, named multi-trajectory MPC (mt-MPC), is presented and applied to the problem of autonomous navigation of an unmanned aerial vehicle (UAV) in an unknown environment. The UAV is equipped with a LiDAR sensor, providing only a partial description of the surroundings and resulting in time-varying constraints as the vehicle navigates among the obstacles. The control system layout is hierarchical: the low-level loops stabilize the vehicle’s trajectories and track the set-points commanded by the high-level, mt-MPC controller. The latter is required to plan the UAV trajectory trading off safety, i.e. to avoid collisions with the uncertain obstacles, and exploitation, i.e. to reach an assigned target location. To achieve this goal, mt-MPC considers different future state trajectories in the same Finite Horizon Optimal Control Problem (FHOCP), enabling a partial decoupling between constraint satisfaction (safety) and cost function minimization (exploitation). Recursive feasibility and, consequently, persistent obstacle avoidance guarantees are derived under the assumption of a time invariant environment. The performance of the approach is studied in simulation and compared with that of a standard MPC, showing good improvement.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"117 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":"117269701","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/ecc54610.2021.9655119
Faran A. Qureshi, J. Shamma
Wind power is a clean and sustainable source of electricity, but its intermittent nature creates challenges for its grid integration. Utility-scale batteries are a popular and effective solution to make wind power dispatchable, however, batteries are expensive and increase the overall cost of operation. In this paper, we propose utilizing the flexibility in the consumption of smart buildings to reduce the size of the utility-scale batteries needed for the dispatchability of wind energy. A method based on stochastic optimization is proposed to compute the dispatch plan required to participate in the day-ahead energy market. A stochastic model predictive controller is proposed for the control of the buildings and batteries to track the dispatch plan in real-time. Simulations are carried out with realistic building models and real weather, wind power production, and forecast data. Results demonstrate that utilizing the flexibility of building thermodynamics can significantly reduce the size (and usage) of the required battery for making the wind power production dispatchable.
{"title":"Control of Smart Buildings and Utility-Scale Batteries Enabling 24/7 Carbon-Free Energy*","authors":"Faran A. Qureshi, J. Shamma","doi":"10.23919/ecc54610.2021.9655119","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9655119","url":null,"abstract":"Wind power is a clean and sustainable source of electricity, but its intermittent nature creates challenges for its grid integration. Utility-scale batteries are a popular and effective solution to make wind power dispatchable, however, batteries are expensive and increase the overall cost of operation. In this paper, we propose utilizing the flexibility in the consumption of smart buildings to reduce the size of the utility-scale batteries needed for the dispatchability of wind energy. A method based on stochastic optimization is proposed to compute the dispatch plan required to participate in the day-ahead energy market. A stochastic model predictive controller is proposed for the control of the buildings and batteries to track the dispatch plan in real-time. Simulations are carried out with realistic building models and real weather, wind power production, and forecast data. Results demonstrate that utilizing the flexibility of building thermodynamics can significantly reduce the size (and usage) of the required battery for making the wind power production dispatchable.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"34 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":"115792645","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/ecc54610.2021.9654879
M. Demetriou, Weiwei Hu
This paper revisits the design of compensator-based controller for a class of infinite dimensional systems. In order to save computational time, a functional observer is employed to reconstruct a functional of the state which coincides with the full state feedback control signal. Such a full-state feedback corresponds to an idealized case wherein the state is available. Instead of reconstructing the entire state via a state-observer and then use this state estimate in a controller expression, a functional observer is used to estimate the product of the state and the feedback operator, thus resulting in a significant reduction in computational load. This observer design is subsequently integrated with a sensor selection in order to improve controller performance. An appropriate metric is used to optimize the sensor location resulting in improved performance of the functional observer-based compensator. The integrated design is further extended to include a controller with an unknown input functional observer. The results are applied to 2D partial differential equations and detailed numerical studies are included to provide an appreciation in the significant savings in both operational and computational costs.
{"title":"Design and optimization of minimum-order compensators of distributed parameter systems via functional observers and unknown input functional observers","authors":"M. Demetriou, Weiwei Hu","doi":"10.23919/ecc54610.2021.9654879","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654879","url":null,"abstract":"This paper revisits the design of compensator-based controller for a class of infinite dimensional systems. In order to save computational time, a functional observer is employed to reconstruct a functional of the state which coincides with the full state feedback control signal. Such a full-state feedback corresponds to an idealized case wherein the state is available. Instead of reconstructing the entire state via a state-observer and then use this state estimate in a controller expression, a functional observer is used to estimate the product of the state and the feedback operator, thus resulting in a significant reduction in computational load. This observer design is subsequently integrated with a sensor selection in order to improve controller performance. An appropriate metric is used to optimize the sensor location resulting in improved performance of the functional observer-based compensator. The integrated design is further extended to include a controller with an unknown input functional observer. The results are applied to 2D partial differential equations and detailed numerical studies are included to provide an appreciation in the significant savings in both operational and computational costs.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"17 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":"115385342","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/ecc54610.2021.9654837
Amin Assadi, P. Tkachenko, L. Re
Experienced human drivers generally try to con-sider not only the safety of their own vehicle but also to avoid disturbing surrounding vehicles in a way that could negatively affect the flow of traffic or even cause accidents. This requires an estimation of the possible reaction of other traffic participants. This paper addresses this kind of interaction model and proposes qLPV models for two important scenarios, merging and cut-in, which have high importance for safety and traffic fluidity. The proposed models rely only on available datasets, and sparse identification methods are used to identify their parameters. Drone measurements from Germany and China are used for identification and evaluation.
{"title":"Interaction Models for Merging and Cut-in Scenarios","authors":"Amin Assadi, P. Tkachenko, L. Re","doi":"10.23919/ecc54610.2021.9654837","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654837","url":null,"abstract":"Experienced human drivers generally try to con-sider not only the safety of their own vehicle but also to avoid disturbing surrounding vehicles in a way that could negatively affect the flow of traffic or even cause accidents. This requires an estimation of the possible reaction of other traffic participants. This paper addresses this kind of interaction model and proposes qLPV models for two important scenarios, merging and cut-in, which have high importance for safety and traffic fluidity. The proposed models rely only on available datasets, and sparse identification methods are used to identify their parameters. Drone measurements from Germany and China are used for identification and evaluation.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"68 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":"124459642","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/ecc54610.2021.9654996
Zonglin Liu, O. Stursberg
This paper introduces a scheme for distributed solution for mixed-integer quadratic programming (MIQP) problems, which stem from, e.g., optimal control problems of networked systems involving hybrid dynamics. The centralized solution of this class of problem is often very complicated due to the NP-hard nature of MIQP, especially when a larger number of subsystems is to be considered. The proposed distributed solution is carried out sequentially by employing different stages, each of which uses one optimality condition formulated for the MIQP problem. These conditions guide the decomposition and the solution process, so that the overall complexity is reduced significantly compared to the centralized solution. Efficiency with respect to computation times and performance is confirmed by a set of numerical examples.
{"title":"Distributed Solution of MIQP Problems Arising for Networked Systems with Coupling Constraints","authors":"Zonglin Liu, O. Stursberg","doi":"10.23919/ecc54610.2021.9654996","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654996","url":null,"abstract":"This paper introduces a scheme for distributed solution for mixed-integer quadratic programming (MIQP) problems, which stem from, e.g., optimal control problems of networked systems involving hybrid dynamics. The centralized solution of this class of problem is often very complicated due to the NP-hard nature of MIQP, especially when a larger number of subsystems is to be considered. The proposed distributed solution is carried out sequentially by employing different stages, each of which uses one optimality condition formulated for the MIQP problem. These conditions guide the decomposition and the solution process, so that the overall complexity is reduced significantly compared to the centralized solution. Efficiency with respect to computation times and performance is confirmed by a set of numerical examples.","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":"124807630","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/ecc54610.2021.9654998
Roberto Tazzari, I. Azzollini, L. Marconi
The paper deals with autonomous Unmanned Ground Vehicles developed for precision agriculture contexts. The focus of the paper is on the design of an adaptive observer for slip estimation ensuring exponential convergence to the real slip coefficients. Uniform global exponential stability of the origin of the error system is shown via Lyapunov analysis and persistency of excitation arguments. Furthermore, robustness to additive perturbations is shown in terms of Input-to-State Stability. Experimental results validate the effectiveness of the proposed estimator even in presence of noisy measurements.
{"title":"An Adaptive Observer approach to Slip Estimation for Agricultural Tracked Vehicles","authors":"Roberto Tazzari, I. Azzollini, L. Marconi","doi":"10.23919/ecc54610.2021.9654998","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654998","url":null,"abstract":"The paper deals with autonomous Unmanned Ground Vehicles developed for precision agriculture contexts. The focus of the paper is on the design of an adaptive observer for slip estimation ensuring exponential convergence to the real slip coefficients. Uniform global exponential stability of the origin of the error system is shown via Lyapunov analysis and persistency of excitation arguments. Furthermore, robustness to additive perturbations is shown in terms of Input-to-State Stability. Experimental results validate the effectiveness of the proposed estimator even in presence of noisy measurements.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"38 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":"123516343","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/ECC54610.2021.9654978
Dina Mikhaylenko, Ping Zhang
The probability of failure on demand (PFD) is an important performance index to evaluate the reliability of safety instrumented systems (SIS) and determine their safety integrity level. In practice, some failure processes and repair processes in the SIS have a non-exponential distribution in nature. A SIS with non-exponential distributions can be described by a semi-Markov model. This paper aims to provide an overview of current developments in the evaluation of the PFD for SIS described by a semi-Markov model. Different approaches to calculate the PFD are compared in terms of accuracy of calculation results, computational efforts, and required pre-knowledge. Finally, a numerical example illustrates the application, advantages and disadvantages of each approach.
{"title":"Comparison of the approaches for PFD evaluation of safety instrumented systems with non-exponential distributions","authors":"Dina Mikhaylenko, Ping Zhang","doi":"10.23919/ECC54610.2021.9654978","DOIUrl":"https://doi.org/10.23919/ECC54610.2021.9654978","url":null,"abstract":"The probability of failure on demand (PFD) is an important performance index to evaluate the reliability of safety instrumented systems (SIS) and determine their safety integrity level. In practice, some failure processes and repair processes in the SIS have a non-exponential distribution in nature. A SIS with non-exponential distributions can be described by a semi-Markov model. This paper aims to provide an overview of current developments in the evaluation of the PFD for SIS described by a semi-Markov model. Different approaches to calculate the PFD are compared in terms of accuracy of calculation results, computational efforts, and required pre-knowledge. Finally, a numerical example illustrates the application, advantages and disadvantages of each approach.","PeriodicalId":105499,"journal":{"name":"2021 European Control Conference (ECC)","volume":"46 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":"124181636","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/ecc54610.2021.9654984
S. Ifqir, C. Combastel, A. Zolghadri, G. Alcalay, P. Goupil, Samuel Merlet
The problem studied in this paper is that of multi-sensor data-fusion for aircraft navigation during approach and landing. Three different sensor groups, namely, Inertial Reference System (IRS), Global Positioning System (GPS) and Instrument Landing System (ILS) are used complementarily to estimate aircraft 3D position in the final approach stage. The methodology takes advantage of set-membership tools and paves the way toward a new and simple online tuning of merging filter. The effectiveness of the proposed scheme is evaluated in terms of validity and accuracy using real flight data provided by Airbus.
{"title":"Multi-Sensor Data Fusion For Civil Aircraft IRS/GPS/ILS Integrated Navigation System","authors":"S. Ifqir, C. Combastel, A. Zolghadri, G. Alcalay, P. Goupil, Samuel Merlet","doi":"10.23919/ecc54610.2021.9654984","DOIUrl":"https://doi.org/10.23919/ecc54610.2021.9654984","url":null,"abstract":"The problem studied in this paper is that of multi-sensor data-fusion for aircraft navigation during approach and landing. Three different sensor groups, namely, Inertial Reference System (IRS), Global Positioning System (GPS) and Instrument Landing System (ILS) are used complementarily to estimate aircraft 3D position in the final approach stage. The methodology takes advantage of set-membership tools and paves the way toward a new and simple online tuning of merging filter. The effectiveness of the proposed scheme is evaluated in terms of validity and accuracy using real flight data provided by Airbus.","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":"130038643","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：