Pub Date : 2022-06-08DOI: 10.1016/j.automatica.2020.109470
Kexue Zhang, Eric P. Braverman
{"title":"Time-delay systems with delayed impulses: A unified criterion on asymptotic stability","authors":"Kexue Zhang, Eric P. Braverman","doi":"10.1016/j.automatica.2020.109470","DOIUrl":"https://doi.org/10.1016/j.automatica.2020.109470","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"14 9","pages":"109470"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72558294","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 : 2022-06-01DOI: 10.1109/mra.2022.3169045
F. Park
{"title":"Reaffirming Our Values as a Global Community [President's Message]","authors":"F. Park","doi":"10.1109/mra.2022.3169045","DOIUrl":"https://doi.org/10.1109/mra.2022.3169045","url":null,"abstract":"","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"1 1","pages":"6-8"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87452476","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 : 2022-06-01DOI: 10.1109/mra.2022.3165906
Yi Guo
As more and more countries ease coronavirus restrictions and open up, the global supply chain crisis does not seem to get better, and many industries are facing a shortage of labor. The old myth that robots will destroy jobs is proving to be far from the truth. In fact, the evidence suggests that robots will be disruptive but ultimately beneficial for labor markets [1] . In a pandemic-ravaged world, it would be a good thing to have more robots to boost productivity affected by staff shortages and to look after older adults who are in need of help.
{"title":"New Ideas, Old Tricks [From the Editor's Desk]","authors":"Yi Guo","doi":"10.1109/mra.2022.3165906","DOIUrl":"https://doi.org/10.1109/mra.2022.3165906","url":null,"abstract":"As more and more countries ease coronavirus restrictions and open up, the global supply chain crisis does not seem to get better, and many industries are facing a shortage of labor. The old myth that robots will destroy jobs is proving to be far from the truth. In fact, the evidence suggests that robots will be disruptive but ultimately beneficial for labor markets [1] . In a pandemic-ravaged world, it would be a good thing to have more robots to boost productivity affected by staff shortages and to look after older adults who are in need of help.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"9 1","pages":"4"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78712540","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 : 2022-05-29DOI: 10.48550/arXiv.2205.14582
Marco A. Gordon, Francisco J. Vargas, A. Peters
This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and constant time-headway spacing policy. Lossy channels are modeled by Bernoulli processes allowed to be correlated in space. We make use of a class of compensation strategies to reduce the effect of data loss. Necessary and sufficient conditions are derived to guarantee the convergence of the mean and variance of the tracking errors, which depend not only on the controller design but also on the compensation strategy and the probabilities of successful transmission. Through numerical simulations, we illustrate the theoretical results, describing different platoon behaviors. We also provide insights on the mean-square stability as a necessary condition for string stability in this stochastic setting.
{"title":"Mean square stability conditions for platoons with lossy inter-vehicle communication channels","authors":"Marco A. Gordon, Francisco J. Vargas, A. Peters","doi":"10.48550/arXiv.2205.14582","DOIUrl":"https://doi.org/10.48550/arXiv.2205.14582","url":null,"abstract":"This paper studies the mean-square stability of heterogeneous LTI vehicular platoons with inter-vehicle communication channels affected by random data loss. We consider a discrete-time platoon system with predecessor following topology and constant time-headway spacing policy. Lossy channels are modeled by Bernoulli processes allowed to be correlated in space. We make use of a class of compensation strategies to reduce the effect of data loss. Necessary and sufficient conditions are derived to guarantee the convergence of the mean and variance of the tracking errors, which depend not only on the controller design but also on the compensation strategy and the probabilities of successful transmission. Through numerical simulations, we illustrate the theoretical results, describing different platoon behaviors. We also provide insights on the mean-square stability as a necessary condition for string stability in this stochastic setting.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"22 1","pages":"110710"},"PeriodicalIF":0.0,"publicationDate":"2022-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91183397","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 : 2022-05-22DOI: 10.48550/arXiv.2205.10734
Lulu Gong, Weijia Yao, Jian Gao, M. Cao
Recently, an evolutionary game dynamics model taking into account the environmental feedback has been proposed to describe the co-evolution of strategic actions of a population of individuals and the state of the surrounding environment; correspondingly a range of interesting dynamic behaviors have been reported. In this paper, we provide new theoretical insight into such behaviors and discuss control options. Instead of the standard replicator dynamics, we use a more realistic and comprehensive model of replicator-mutator dynamics, to describe the strategic evolution of the population. After integrating the environment feedback, we study the effect of mutations on the resulting closed-loop system dynamics. We prove the conditions for two types of bifurcations, Hopf bifurcation and Heteroclinic bifurcation, both of which result in stable limit cycles. These limit cycles have not been identified in existing works, and we further prove that such limit cycles are in fact persistent in a large parameter space and are almost globally stable. In the end, an intuitive control policy based on incentives is applied, and the effectiveness of this control policy is examined by analysis and simulations.
{"title":"Limit Cycles Analysis and Control of Evolutionary Game Dynamics with Environmental Feedback","authors":"Lulu Gong, Weijia Yao, Jian Gao, M. Cao","doi":"10.48550/arXiv.2205.10734","DOIUrl":"https://doi.org/10.48550/arXiv.2205.10734","url":null,"abstract":"Recently, an evolutionary game dynamics model taking into account the environmental feedback has been proposed to describe the co-evolution of strategic actions of a population of individuals and the state of the surrounding environment; correspondingly a range of interesting dynamic behaviors have been reported. In this paper, we provide new theoretical insight into such behaviors and discuss control options. Instead of the standard replicator dynamics, we use a more realistic and comprehensive model of replicator-mutator dynamics, to describe the strategic evolution of the population. After integrating the environment feedback, we study the effect of mutations on the resulting closed-loop system dynamics. We prove the conditions for two types of bifurcations, Hopf bifurcation and Heteroclinic bifurcation, both of which result in stable limit cycles. These limit cycles have not been identified in existing works, and we further prove that such limit cycles are in fact persistent in a large parameter space and are almost globally stable. In the end, an intuitive control policy based on incentives is applied, and the effectiveness of this control policy is examined by analysis and simulations.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"57 1","pages":"110536"},"PeriodicalIF":0.0,"publicationDate":"2022-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74080109","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 : 2022-05-04DOI: 10.48550/arXiv.2205.01951
Yu Yang, Q. Jia, Zhanbo Xu, X. Guan, C. Spanos
By enabling the nodes or agents to solve small-sized subproblems to achieve coordination, distributed algorithms are favored by many networked systems for efficient and scalable computation. While for convex problems, substantial distributed algorithms are available, the results for the more broad nonconvex counterparts are extremely lacking. This paper develops a distributed algorithm for a class of nonconvex and nonsmooth problems featured by i) a nonconvex objective formed by both separate and composite objective components regarding the decision components of interconnected agents, ii) local bounded convex constraints, and iii) coupled linear constraints. This problem is directly originated from smart buildings and is also broad in other domains. To provide a distributed algorithm with convergence guarantee, we revise the powerful tool of alternating direction method of multiplier (ADMM) and proposed a proximal ADMM. Specifically, noting that the main difficulty to establish the convergence for the nonconvex and nonsmooth optimization within the ADMM framework is to assume the boundness of dual updates, we propose to update the dual variables in a discounted manner. This leads to the establishment of a so-called sufficiently decreasing and lower bounded Lyapunov function, which is critical to establish the convergence. We prove that the method converges to some approximate stationary points. We besides showcase the efficacy and performance of the method by a numerical example and the concrete application to multi-zone heating, ventilation, and air-conditioning (HVAC) control in smart buildings.
{"title":"Proximal ADMM for Nonconvex and Nonsmooth Optimization","authors":"Yu Yang, Q. Jia, Zhanbo Xu, X. Guan, C. Spanos","doi":"10.48550/arXiv.2205.01951","DOIUrl":"https://doi.org/10.48550/arXiv.2205.01951","url":null,"abstract":"By enabling the nodes or agents to solve small-sized subproblems to achieve coordination, distributed algorithms are favored by many networked systems for efficient and scalable computation. While for convex problems, substantial distributed algorithms are available, the results for the more broad nonconvex counterparts are extremely lacking. This paper develops a distributed algorithm for a class of nonconvex and nonsmooth problems featured by i) a nonconvex objective formed by both separate and composite objective components regarding the decision components of interconnected agents, ii) local bounded convex constraints, and iii) coupled linear constraints. This problem is directly originated from smart buildings and is also broad in other domains. To provide a distributed algorithm with convergence guarantee, we revise the powerful tool of alternating direction method of multiplier (ADMM) and proposed a proximal ADMM. Specifically, noting that the main difficulty to establish the convergence for the nonconvex and nonsmooth optimization within the ADMM framework is to assume the boundness of dual updates, we propose to update the dual variables in a discounted manner. This leads to the establishment of a so-called sufficiently decreasing and lower bounded Lyapunov function, which is critical to establish the convergence. We prove that the method converges to some approximate stationary points. We besides showcase the efficacy and performance of the method by a numerical example and the concrete application to multi-zone heating, ventilation, and air-conditioning (HVAC) control in smart buildings.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"54 1","pages":"110551"},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90931970","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 : 2022-04-26DOI: 10.48550/arXiv.2204.12106
W. Ren, R. Jungers, Dimos V. Dimarogonas
This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel control barrier functions/functionals for the safety problem. The proposed control Lyapunov and barrier functions/functionals extend the existing ones from the delay-free case to the time-delay case, and allow for designing the stabilizing and safety controllers in closed-form. Since analytical solutions to time-delay optimal control problems are hard to be achieved, a sliding mode control based approach is developed to merge the proposed control Lyapunov and barrier functions/functionals. Based on the sliding surface functional, a feedback control law is established to investigate the stabilization and safety objectives simultaneously. In particular, the properties of the sliding surface functional are analyzed, and further how to construct the sliding surface functional is discussed. Finally, the proposed approaches are illustrated via two numerical examples from the connected cruise control problem of automotive systems and the synchronization problem of multi-agent systems.
{"title":"Razumikhin and Krasovskii Approaches for Safe Stabilization","authors":"W. Ren, R. Jungers, Dimos V. Dimarogonas","doi":"10.48550/arXiv.2204.12106","DOIUrl":"https://doi.org/10.48550/arXiv.2204.12106","url":null,"abstract":"This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel control barrier functions/functionals for the safety problem. The proposed control Lyapunov and barrier functions/functionals extend the existing ones from the delay-free case to the time-delay case, and allow for designing the stabilizing and safety controllers in closed-form. Since analytical solutions to time-delay optimal control problems are hard to be achieved, a sliding mode control based approach is developed to merge the proposed control Lyapunov and barrier functions/functionals. Based on the sliding surface functional, a feedback control law is established to investigate the stabilization and safety objectives simultaneously. In particular, the properties of the sliding surface functional are analyzed, and further how to construct the sliding surface functional is discussed. Finally, the proposed approaches are illustrated via two numerical examples from the connected cruise control problem of automotive systems and the synchronization problem of multi-agent systems.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"17 1","pages":"110563"},"PeriodicalIF":0.0,"publicationDate":"2022-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79253808","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 : 2022-04-18DOI: 10.48550/arXiv.2204.08536
G. Pasquale, M. E. Valcher
In this paper, we investigate the herdability property, namely the capability of a system to be driven towards the (interior of the) positive orthant, for linear time-invariant state-space models. Herdability of certain matrix pairs (A,B), where A is the adjacency matrix of a multi-agent network, and B is a selection matrix that singles out a subset of the agents (the"network leaders"), is explored. The cases when the graph associated with A, G(A), is directed and clustering balanced (in particular, structurally balanced), or it has a tree topology and there is a single leader, are investigated.
{"title":"On the Herdability of Linear Time-Invariant Systems with Special Topological Structures","authors":"G. Pasquale, M. E. Valcher","doi":"10.48550/arXiv.2204.08536","DOIUrl":"https://doi.org/10.48550/arXiv.2204.08536","url":null,"abstract":"In this paper, we investigate the herdability property, namely the capability of a system to be driven towards the (interior of the) positive orthant, for linear time-invariant state-space models. Herdability of certain matrix pairs (A,B), where A is the adjacency matrix of a multi-agent network, and B is a selection matrix that singles out a subset of the agents (the\"network leaders\"), is explored. The cases when the graph associated with A, G(A), is directed and clustering balanced (in particular, structurally balanced), or it has a tree topology and there is a single leader, are investigated.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"51 1","pages":"110804"},"PeriodicalIF":0.0,"publicationDate":"2022-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78259830","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 : 2022-04-17DOI: 10.48550/arXiv.2204.08092
M. Khosravi, Roy S. Smith
The notion of reproducing kernel Hilbert space (RKHS) has emerged in system identification during the past decade. In the resulting framework, the impulse response estimation problem is formulated as a regularized optimization defined on an infinite-dimensional RKHS consisting of stable impulse responses. The consequent estimation problem is well-defined under the central assumption that the convolution operators restricted to the RKHS are continuous linear functionals. Moreover, according to this assumption, the representer theorem hold, and therefore, the impulse response can be estimated by solving a finite-dimensional program. Thus, the continuity feature plays a significant role in kernel-based system identification. This paper shows that this central assumption is guaranteed to be satisfied in considerably general situations, namely when the kernel is an integrable function and the input signal is bounded. Furthermore, the strong convexity of the optimization problem and the continuity property of the convolution operators imply that the kernel-based system identification admits a unique solution. Consequently, it follows that kernel-based system identification is a well-defined approach.
{"title":"The Existence and Uniqueness of Solutions for Kernel-Based System Identification","authors":"M. Khosravi, Roy S. Smith","doi":"10.48550/arXiv.2204.08092","DOIUrl":"https://doi.org/10.48550/arXiv.2204.08092","url":null,"abstract":"The notion of reproducing kernel Hilbert space (RKHS) has emerged in system identification during the past decade. In the resulting framework, the impulse response estimation problem is formulated as a regularized optimization defined on an infinite-dimensional RKHS consisting of stable impulse responses. The consequent estimation problem is well-defined under the central assumption that the convolution operators restricted to the RKHS are continuous linear functionals. Moreover, according to this assumption, the representer theorem hold, and therefore, the impulse response can be estimated by solving a finite-dimensional program. Thus, the continuity feature plays a significant role in kernel-based system identification. This paper shows that this central assumption is guaranteed to be satisfied in considerably general situations, namely when the kernel is an integrable function and the input signal is bounded. Furthermore, the strong convexity of the optimization problem and the continuity property of the convolution operators imply that the kernel-based system identification admits a unique solution. Consequently, it follows that kernel-based system identification is a well-defined approach.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"37 1","pages":"110728"},"PeriodicalIF":0.0,"publicationDate":"2022-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85525541","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 : 2022-04-14DOI: 10.48550/arXiv.2204.06912
Lucas N. Egidio, G. S. Deaecto, R. Jungers
This paper treats the global stabilization problem of continuous-time switched affine systems that have rank-deficient convex combinations of their dynamic matrices. For these systems, the already known set of attainable equilibrium points has higher dimensionality than in the full-rank case due to the existence of what we define as singular equilibrium points. Our main goal is to design a state-dependent switching function to ensure global asymptotic stability of a chosen point inside this set with conditions expressed in terms of linear matrix inequalities. For this class of systems, global exponential stability is generally impossible to be guaranteed. Hence, the proposed switching function is shown to ensure global asymptotic and local exponential stability of the desired equilibrium point. The position control and the velocity control with integral action of a dc motor driven by an h-bridge fed via a boost converter are used for validation. This practical application example is composed of eight subsystems, and all possible convex combinations of the dynamic matrices are singular.
{"title":"Stabilization of rank-deficient continuous-time switched affine systems","authors":"Lucas N. Egidio, G. S. Deaecto, R. Jungers","doi":"10.48550/arXiv.2204.06912","DOIUrl":"https://doi.org/10.48550/arXiv.2204.06912","url":null,"abstract":"This paper treats the global stabilization problem of continuous-time switched affine systems that have rank-deficient convex combinations of their dynamic matrices. For these systems, the already known set of attainable equilibrium points has higher dimensionality than in the full-rank case due to the existence of what we define as singular equilibrium points. Our main goal is to design a state-dependent switching function to ensure global asymptotic stability of a chosen point inside this set with conditions expressed in terms of linear matrix inequalities. For this class of systems, global exponential stability is generally impossible to be guaranteed. Hence, the proposed switching function is shown to ensure global asymptotic and local exponential stability of the desired equilibrium point. The position control and the velocity control with integral action of a dc motor driven by an h-bridge fed via a boost converter are used for validation. This practical application example is composed of eight subsystems, and all possible convex combinations of the dynamic matrices are singular.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":"23 1","pages":"110426"},"PeriodicalIF":0.0,"publicationDate":"2022-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90384115","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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