Pub Date : 2016-08-01DOI: 10.1109/ACC.2016.7525507
T. Mylvaganam, A. Astolfi
The main aim of this work is to develop a systematic approach for dealing with differential games with limited communication. To this end a differential game with limited communication is considered. The communication topology is described by a directed graph. The main components characterising the differential game with limited communication are identified before the resulting game is formally defined. Sufficient conditions to solve the problem are identified both in the general nonlinear case and in the linear-quadratic case. A numerical example illustrating the theoretical approach and results is presented. Finally, several directions for further developments are identified.
{"title":"Towards a systematic solution for differential games with limited communication","authors":"T. Mylvaganam, A. Astolfi","doi":"10.1109/ACC.2016.7525507","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525507","url":null,"abstract":"The main aim of this work is to develop a systematic approach for dealing with differential games with limited communication. To this end a differential game with limited communication is considered. The communication topology is described by a directed graph. The main components characterising the differential game with limited communication are identified before the resulting game is formally defined. Sufficient conditions to solve the problem are identified both in the general nonlinear case and in the linear-quadratic case. A numerical example illustrating the theoretical approach and results is presented. Finally, several directions for further developments are identified.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114533740","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 : 2016-08-01DOI: 10.1109/ACC.2016.7526702
K. Pham
This paper begins to bridge theoretical systems control with satellite communications in fundamental ways. In view of satellite system controllers, quality of service of user terminals needs a radically different perspective to reliably maintain a minimum adaptive link margin to account for link state uncertainties. Special emphasis is therefore given to the cost-variance, discrete-time control theory which enables an effective design for reliability to analyze the behavior of Signal-to-Interference-Plus-Noise Ratio (SINR)-based tracking systems. The work further articulates the use of state estimates for terminal power adjustments supported by discrete Kalman filtering with intermittent blockages. Moreover, the recent assessment of multi-access interference protection recommends that terminal powers should continue to be subject to terminal power control output back-off constraints. Lastly, communication rates for terminal reports from active remote terminals to the satellite ground hub can be optimized by means of the model-based triggering events.
{"title":"Assured satellite communications: A minimal-cost-variance system controller paradigm","authors":"K. Pham","doi":"10.1109/ACC.2016.7526702","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526702","url":null,"abstract":"This paper begins to bridge theoretical systems control with satellite communications in fundamental ways. In view of satellite system controllers, quality of service of user terminals needs a radically different perspective to reliably maintain a minimum adaptive link margin to account for link state uncertainties. Special emphasis is therefore given to the cost-variance, discrete-time control theory which enables an effective design for reliability to analyze the behavior of Signal-to-Interference-Plus-Noise Ratio (SINR)-based tracking systems. The work further articulates the use of state estimates for terminal power adjustments supported by discrete Kalman filtering with intermittent blockages. Moreover, the recent assessment of multi-access interference protection recommends that terminal powers should continue to be subject to terminal power control output back-off constraints. Lastly, communication rates for terminal reports from active remote terminals to the satellite ground hub can be optimized by means of the model-based triggering events.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114678658","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 : 2016-08-01DOI: 10.1109/ACC.2016.7526147
J. Brooks, P. Barooah
We consider the problem of smart and flexible loads providing contingency reserves to the electric grid based on using local frequency measurements. The impact on consumers must be minimized at the same time. A recent paper by Zhao et al. proposed a solution to this optimization problem that was based on solving the dual problem in a distributed manner: local measurements and information exchanged with nearby loads are used to make decisions. In this paper, we provide a distributed algorithm to solve the primal problem. In contrast to the “dual algorithm” (DA) of Zhao et al., the proposed algorithm is applicable when consumer disutility is a convex, but not necessarily strictly convex, function of consumption changes; for example, a model of consumer behavior that is insensitive to small changes in consumption. Simulations show the proposed method aids the grid in arresting frequency deviations in response to contingency events. We provide a proof of convergence of the proposed algorithm, and we compare its performance to that of DA, when applicable, through simulations.
{"title":"Consumer-aware load control to provide contingency reserves using frequency measurements and inter-load communication","authors":"J. Brooks, P. Barooah","doi":"10.1109/ACC.2016.7526147","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526147","url":null,"abstract":"We consider the problem of smart and flexible loads providing contingency reserves to the electric grid based on using local frequency measurements. The impact on consumers must be minimized at the same time. A recent paper by Zhao et al. proposed a solution to this optimization problem that was based on solving the dual problem in a distributed manner: local measurements and information exchanged with nearby loads are used to make decisions. In this paper, we provide a distributed algorithm to solve the primal problem. In contrast to the “dual algorithm” (DA) of Zhao et al., the proposed algorithm is applicable when consumer disutility is a convex, but not necessarily strictly convex, function of consumption changes; for example, a model of consumer behavior that is insensitive to small changes in consumption. Simulations show the proposed method aids the grid in arresting frequency deviations in response to contingency events. We provide a proof of convergence of the proposed algorithm, and we compare its performance to that of DA, when applicable, through simulations.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124368410","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 : 2016-08-01DOI: 10.1109/ACC.2016.7525149
V. Rudko, Daniel E. Miller
In adaptive control the goal is to deal with systems that have unknown and/or time-varying parameters. Most techniques are proven in the case in which the time-variation is non-existent or slow, with results pertaining to systems with rapid time-variations limitted to those in which the time-variation is of a known form or for which the plant has stable zero dynamics. Here we propose a new adaptive controller design based on the related area of gain scheduling. We consider the case in which the plant uncertainty is limitted to a scalar variable; under suitable assumptions on the plant under consideration, it is proven that the controller yields a closed loop system which is stable under fast parameter variations with persistent jumps.
{"title":"Nonlinear periodic adaptive control for linear time-varying plants","authors":"V. Rudko, Daniel E. Miller","doi":"10.1109/ACC.2016.7525149","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525149","url":null,"abstract":"In adaptive control the goal is to deal with systems that have unknown and/or time-varying parameters. Most techniques are proven in the case in which the time-variation is non-existent or slow, with results pertaining to systems with rapid time-variations limitted to those in which the time-variation is of a known form or for which the plant has stable zero dynamics. Here we propose a new adaptive controller design based on the related area of gain scheduling. We consider the case in which the plant uncertainty is limitted to a scalar variable; under suitable assumptions on the plant under consideration, it is proven that the controller yields a closed loop system which is stable under fast parameter variations with persistent jumps.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131616336","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 : 2016-08-01DOI: 10.1109/ACC.2016.7526837
Y. R. Teo, Y. Yong, A. Fleming
In a scanning probe microscope (SPM), the image is obtained by scanning a sample relative to a physical probe which captures the topography. The conventional scanning method is a raster pattern where a triangular or sawtooth waveform is applied to the x-axis while the y-axis position is incremented. In recent years the need for higher imaging speeds has motivated the investigation of novel scanning trajectories such as spiral, cycloid, and Lissajous patterns. Although the benefits of these approaches has been described in the literature, the lack of a comprehensive comparison makes the actual performance gains, if any, unclear. This article evaluates the efficacy of current scanning methods by comparing the required scan rate, signal bandwidth, sampling frequency, and probe velocity. In addition, the control implications of each method are also discussed qualitatively. Based on the prescribed performance metrics, the sinusoidal raster method significantly outperforms the raster, spiral, and Lissajous methods whilst being the simplest to implement. Therefore, it is concluded that the most suitable currently known method for high-speed or video-rate AFM imaging is sinusoidal raster scanning.
{"title":"A review of scanning methods and control implications for scanning probe microscopy","authors":"Y. R. Teo, Y. Yong, A. Fleming","doi":"10.1109/ACC.2016.7526837","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526837","url":null,"abstract":"In a scanning probe microscope (SPM), the image is obtained by scanning a sample relative to a physical probe which captures the topography. The conventional scanning method is a raster pattern where a triangular or sawtooth waveform is applied to the x-axis while the y-axis position is incremented. In recent years the need for higher imaging speeds has motivated the investigation of novel scanning trajectories such as spiral, cycloid, and Lissajous patterns. Although the benefits of these approaches has been described in the literature, the lack of a comprehensive comparison makes the actual performance gains, if any, unclear. This article evaluates the efficacy of current scanning methods by comparing the required scan rate, signal bandwidth, sampling frequency, and probe velocity. In addition, the control implications of each method are also discussed qualitatively. Based on the prescribed performance metrics, the sinusoidal raster method significantly outperforms the raster, spiral, and Lissajous methods whilst being the simplest to implement. Therefore, it is concluded that the most suitable currently known method for high-speed or video-rate AFM imaging is sinusoidal raster scanning.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125234014","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 : 2016-08-01DOI: 10.1109/ACC.2016.7525173
D. Mehta
Summary form only given. The polynomial numerical homotopy continuation method has gained quite some attention from the power systems community due to its ability of finding all power flow solutions. The method is able to adapt to power systems on different networks. Hence, the method has a potential to scale fairly better compared to other computational methods that find all power flow solutions. In this talk, I will spell out the basics of the method, with an emphasis on its parallelizablity, and will demonstrate how the method can be used to solve different subproblems, in order to directly solve power flow equations, such as finding stability boundaries of power flow equations.
{"title":"Introduction to numerical polynomial homotopy continuation methods for the power systems practitioners","authors":"D. Mehta","doi":"10.1109/ACC.2016.7525173","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525173","url":null,"abstract":"Summary form only given. The polynomial numerical homotopy continuation method has gained quite some attention from the power systems community due to its ability of finding all power flow solutions. The method is able to adapt to power systems on different networks. Hence, the method has a potential to scale fairly better compared to other computational methods that find all power flow solutions. In this talk, I will spell out the basics of the method, with an emphasis on its parallelizablity, and will demonstrate how the method can be used to solve different subproblems, in order to directly solve power flow equations, such as finding stability boundaries of power flow equations.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134162198","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 : 2016-08-01DOI: 10.1109/ACC.2016.7525201
Ji Liu, Xudong Chen, T. Başar
This paper considers the continuous-time Altafini model for opinion dynamics in which the interaction among a group of agents is described by a piecewise-constant switching signed digraph (or directed graph). Building on an idea proposed in [1], stability of the system described by the model is studied using a graphical approach. It is shown that for any sequence of repeatedly jointly strongly connected digraphs, without any assumption on the sign structure of the graphs, the system asymptotically reaches a consensus in absolute value, including convergence to zero and different types of bipartite consensus (or two-clustering). Necessary and sufficient conditions for exponential stability with respect to each possible type of limit states are provided. Specifically, under the assumption of repeatedly jointly strong connectivity, it is shown that (1) a certain type of two-clustering will be reached exponentially fast for almost all initial conditions if, and only if, the sequence of signed digraphs is repeatedly jointly structurally balanced corresponding to that type of two-clustering; (2) the system will converge to zero exponentially fast for all initial conditions if, and only if, the sequence of signed digraphs is repeatedly jointly structurally unbalanced.
{"title":"Stability of the continuous-time Altafini model","authors":"Ji Liu, Xudong Chen, T. Başar","doi":"10.1109/ACC.2016.7525201","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525201","url":null,"abstract":"This paper considers the continuous-time Altafini model for opinion dynamics in which the interaction among a group of agents is described by a piecewise-constant switching signed digraph (or directed graph). Building on an idea proposed in [1], stability of the system described by the model is studied using a graphical approach. It is shown that for any sequence of repeatedly jointly strongly connected digraphs, without any assumption on the sign structure of the graphs, the system asymptotically reaches a consensus in absolute value, including convergence to zero and different types of bipartite consensus (or two-clustering). Necessary and sufficient conditions for exponential stability with respect to each possible type of limit states are provided. Specifically, under the assumption of repeatedly jointly strong connectivity, it is shown that (1) a certain type of two-clustering will be reached exponentially fast for almost all initial conditions if, and only if, the sequence of signed digraphs is repeatedly jointly structurally balanced corresponding to that type of two-clustering; (2) the system will converge to zero exponentially fast for all initial conditions if, and only if, the sequence of signed digraphs is repeatedly jointly structurally unbalanced.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134303428","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 : 2016-08-01DOI: 10.1109/ACC.2016.7526546
Jordan J. Romvaryy, Anuradha M. Annaswamyz
We present a computationally efficient method for designing regulatory controllers for networked systems using only local information. Using a contraction approach, we derive a connection between a system's intra-dynamics and its neighboring systems. We then show that the design of regulatory controllers is equivalent to a linear feasibility problem on the order of the number of systems. We illustrate our main result using a disturbance mitigation problem, where the goal is to design controllers at a subset of nodes to drive the global nodal values to a particular value in the presence of destabilizing forces. We note that our main result is especially applicable to networks that exhibit interconnection variability and intermittent subsystem faults, like energy grids.
{"title":"A contraction approach for efficient regulation of networked systems","authors":"Jordan J. Romvaryy, Anuradha M. Annaswamyz","doi":"10.1109/ACC.2016.7526546","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526546","url":null,"abstract":"We present a computationally efficient method for designing regulatory controllers for networked systems using only local information. Using a contraction approach, we derive a connection between a system's intra-dynamics and its neighboring systems. We then show that the design of regulatory controllers is equivalent to a linear feasibility problem on the order of the number of systems. We illustrate our main result using a disturbance mitigation problem, where the goal is to design controllers at a subset of nodes to drive the global nodal values to a particular value in the presence of destabilizing forces. We note that our main result is especially applicable to networks that exhibit interconnection variability and intermittent subsystem faults, like energy grids.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124610295","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 : 2016-08-01DOI: 10.1109/ACC.2016.7526847
G. Franzini, L. Pollini, M. Innocenti
The paper presents a H-infinity guidance law for spacecraft low-thrust terminal rendezvous on elliptic orbits. The dynamics of the rendezvous on elliptic orbits are governed by a set of linear time-varying equations, in literature known as linear equations of relative motion. Standard H-infinity controller design technique for linear systems cannot be adopted, since the system is time-varying. Therefore, the problem is formulated as a zero-sum two-person differential game following the minimax H-infinity design technique developed by Başar and Bernhard. The main result is a closed-form solution of the terminal rendezvous on elliptic orbits H-infinity control problem. In addition, we prove that the H-infinity norm of the closed-loop system is bounded.
{"title":"H-infinity controller design for spacecraft terminal rendezvous on elliptic orbits using differential game theory","authors":"G. Franzini, L. Pollini, M. Innocenti","doi":"10.1109/ACC.2016.7526847","DOIUrl":"https://doi.org/10.1109/ACC.2016.7526847","url":null,"abstract":"The paper presents a H-infinity guidance law for spacecraft low-thrust terminal rendezvous on elliptic orbits. The dynamics of the rendezvous on elliptic orbits are governed by a set of linear time-varying equations, in literature known as linear equations of relative motion. Standard H-infinity controller design technique for linear systems cannot be adopted, since the system is time-varying. Therefore, the problem is formulated as a zero-sum two-person differential game following the minimax H-infinity design technique developed by Başar and Bernhard. The main result is a closed-form solution of the terminal rendezvous on elliptic orbits H-infinity control problem. In addition, we prove that the H-infinity norm of the closed-loop system is bounded.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133224469","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 : 2016-08-01DOI: 10.1109/ACC.2016.7525557
K. Lum, K. Lai
This paper presents an approach for reduced-order modeling (ROM) of the aerodynamic-response subsystem of an aeroservo-elastic (ASE) closed-loop system. By representing the latter in modal coordinates, an inverse model can be derived that expresses the closed-loop relation between the modal displacements and an exogenous flap action. A ROM of aerodynamic response can thus be identified without measurement of aerodynamic forces. The Hammerstein model with μ-Markov structure and a two-step nonlinear identification method is employed. For demonstration, the method is applied to computational aero-elasticity data.
{"title":"Subsystem identification of reduced-order model for an aeroservo-elastic closed-loop system","authors":"K. Lum, K. Lai","doi":"10.1109/ACC.2016.7525557","DOIUrl":"https://doi.org/10.1109/ACC.2016.7525557","url":null,"abstract":"This paper presents an approach for reduced-order modeling (ROM) of the aerodynamic-response subsystem of an aeroservo-elastic (ASE) closed-loop system. By representing the latter in modal coordinates, an inverse model can be derived that expresses the closed-loop relation between the modal displacements and an exogenous flap action. A ROM of aerodynamic response can thus be identified without measurement of aerodynamic forces. The Hammerstein model with μ-Markov structure and a two-step nonlinear identification method is employed. For demonstration, the method is applied to computational aero-elasticity data.","PeriodicalId":137983,"journal":{"name":"2016 American Control Conference (ACC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115849745","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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