Pub Date : 2013-08-16DOI: 10.1109/ACC.2013.6580321
W. Paszke, E. Rogers, K. Gałkowski
Repetitive processes make a series of sweeps, or passes, through dynamics defined over a finite duration. One application area is iterative learning control where the stability theory for these processes can be used for design but this involves frequency attenuation over the complete frequency spectrum. This paper develops a new set of conditions where the stability property is only enforced over a finite frequency range. These conditions are developed using the generalized Kalman-Yakubovich-Popov lemma and can be implemented as a set of linear matrix inequalities. An extension to enable stabilizing control law design with additional applications relevant performance specifications, if required, is also developed.
{"title":"Finite frequency domain design of dynamic controllers for differential linear repetitive processes","authors":"W. Paszke, E. Rogers, K. Gałkowski","doi":"10.1109/ACC.2013.6580321","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580321","url":null,"abstract":"Repetitive processes make a series of sweeps, or passes, through dynamics defined over a finite duration. One application area is iterative learning control where the stability theory for these processes can be used for design but this involves frequency attenuation over the complete frequency spectrum. This paper develops a new set of conditions where the stability property is only enforced over a finite frequency range. These conditions are developed using the generalized Kalman-Yakubovich-Popov lemma and can be implemented as a set of linear matrix inequalities. An extension to enable stabilizing control law design with additional applications relevant performance specifications, if required, is also developed.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115750287","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580448
Brandon Brown, T. Singh, R. Rai
This paper presents a new structured method to effectively determine the complete boundary, including the Pareto frontier, of a multi-objective optimization problem. The proposed technique identifies the boundary in the cost space by systematically searching the design parameter space for points which make the Jacobian matrix of the cost vector singular. This corresponds to the identifying a manifold in parameter space which results in a reduced dimensional manifold in the cost space. Since the boundary of the cost space implies a reduced dimensional manifold, a systematic approach is now available for exact identification of the boundary in the cost space. The efficacy of the proposed method is demonstrated on one optimization and one optimal control problem, in this paper.
{"title":"Jacobian matrix singularity based pareto front identification for multi-objective problems","authors":"Brandon Brown, T. Singh, R. Rai","doi":"10.1109/ACC.2013.6580448","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580448","url":null,"abstract":"This paper presents a new structured method to effectively determine the complete boundary, including the Pareto frontier, of a multi-objective optimization problem. The proposed technique identifies the boundary in the cost space by systematically searching the design parameter space for points which make the Jacobian matrix of the cost vector singular. This corresponds to the identifying a manifold in parameter space which results in a reduced dimensional manifold in the cost space. Since the boundary of the cost space implies a reduced dimensional manifold, a systematic approach is now available for exact identification of the boundary in the cost space. The efficacy of the proposed method is demonstrated on one optimization and one optimal control problem, in this paper.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129184050","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580906
Ehsan Shafieepoorfard, M. Raginsky, Sean P. Meyn
The paper poses a general model for optimal control subject to information constraints, motivated in part by recent work on information-constrained decision-making by economic agents. In the average-cost optimal control framework, the general model introduced in this paper reduces to a variant of the linear-programming representation of the average-cost optimal control problem, subject to an additional mutual information constraint on the randomized stationary policy. The resulting optimization problem is convex and admits a decomposition based on the Bellman error, which is the object of study in approximate dynamic programming. The structural results presented in this paper can be used to obtain performance bounds, as well as algorithms for computation or approximation of optimal policies.
{"title":"Rational inattention in controlled Markov processes","authors":"Ehsan Shafieepoorfard, M. Raginsky, Sean P. Meyn","doi":"10.1109/ACC.2013.6580906","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580906","url":null,"abstract":"The paper poses a general model for optimal control subject to information constraints, motivated in part by recent work on information-constrained decision-making by economic agents. In the average-cost optimal control framework, the general model introduced in this paper reduces to a variant of the linear-programming representation of the average-cost optimal control problem, subject to an additional mutual information constraint on the randomized stationary policy. The resulting optimization problem is convex and admits a decomposition based on the Bellman error, which is the object of study in approximate dynamic programming. The structural results presented in this paper can be used to obtain performance bounds, as well as algorithms for computation or approximation of optimal policies.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"213 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131849828","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580437
Marco Forgione, X. Bombois, P. V. D. Hof
An Experiment Design framework for dynamical systems which execute multiple batches is presented in this paper. After each batch, a model of the system dynamics is refined using the measured data. This model is used to synthesize the controller that will be applied in the next batch. Excitation signals may be injected into the system during each batch. From one hand, perturbing the system worsens the control performance during the current batch. On the other hand, the more informative data set will lead to a better identified model for the following batches. The role of Experiment Design is to choose the proper excitation signals in order to optimize a certain performance criterion defined on the set of batches that is scheduled. A total cost is defined in terms of the excitation and the application cost altogether. The excitation signals are designed by minimizing the total cost in a worst case sense. The Experiment Design is formulated as a Convex Optimization problem which can be solved efficiently using standard algorithms. The applicability of the method is demonstrated in a simulation study.
{"title":"Experiment design for batch-to-batch model-based learning control","authors":"Marco Forgione, X. Bombois, P. V. D. Hof","doi":"10.1109/ACC.2013.6580437","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580437","url":null,"abstract":"An Experiment Design framework for dynamical systems which execute multiple batches is presented in this paper. After each batch, a model of the system dynamics is refined using the measured data. This model is used to synthesize the controller that will be applied in the next batch. Excitation signals may be injected into the system during each batch. From one hand, perturbing the system worsens the control performance during the current batch. On the other hand, the more informative data set will lead to a better identified model for the following batches. The role of Experiment Design is to choose the proper excitation signals in order to optimize a certain performance criterion defined on the set of batches that is scheduled. A total cost is defined in terms of the excitation and the application cost altogether. The excitation signals are designed by minimizing the total cost in a worst case sense. The Experiment Design is formulated as a Convex Optimization problem which can be solved efficiently using standard algorithms. The applicability of the method is demonstrated in a simulation study.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"19 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132729009","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580296
Zhihao Xu, H. Kawashima, K. Schilling
To analyze the performance of the formation system in response to inputs/disturbances from outside of the formation, we propose the notion of readiness, which describes the initial conditions of the formation in terms of a certain set of input space. A higher readiness means better initial conditions of the system with better performance in maintaining or recovering the original formation shape against the exogenous inputs/disturbances. Optimization method based on calculus of variations is used in the analysis for deriving the optimality conditions. Simulations modeled on both unicycle and car-like robots demonstrate the features and the potential applications of the proposed notion.
{"title":"Readiness in formation control of multi-robot system","authors":"Zhihao Xu, H. Kawashima, K. Schilling","doi":"10.1109/ACC.2013.6580296","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580296","url":null,"abstract":"To analyze the performance of the formation system in response to inputs/disturbances from outside of the formation, we propose the notion of readiness, which describes the initial conditions of the formation in terms of a certain set of input space. A higher readiness means better initial conditions of the system with better performance in maintaining or recovering the original formation shape against the exogenous inputs/disturbances. Optimization method based on calculus of variations is used in the analysis for deriving the optimality conditions. Simulations modeled on both unicycle and car-like robots demonstrate the features and the potential applications of the proposed notion.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"81 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121707421","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580219
T. Vu, J. Dhupia
We present a realtime feedback control scheme to deterministically produce the maximally entangled Bell states of two partially separated atoms. The recently introduced concept of SWM- (simultaneous weak measurements)-induced quantum state reduction is generalized to the case of anti-commutative observables. This generalization enables the probabilistic preparation of the Bell states via the SWMs of one linear observable and one nonlocal observable. The deterministic generation of the desired Bell state is then carried out by combining SWM-induced quantum state reduction with feedback control. The realtime implementation of the proposed control scheme is guaranteed by using the time delay control approach in which the computation time of filter-based control is compensated for by the delay time in control input.
{"title":"Realtime generation of the bell states by linear-nonlocal measurements and bang-bang control","authors":"T. Vu, J. Dhupia","doi":"10.1109/ACC.2013.6580219","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580219","url":null,"abstract":"We present a realtime feedback control scheme to deterministically produce the maximally entangled Bell states of two partially separated atoms. The recently introduced concept of SWM- (simultaneous weak measurements)-induced quantum state reduction is generalized to the case of anti-commutative observables. This generalization enables the probabilistic preparation of the Bell states via the SWMs of one linear observable and one nonlocal observable. The deterministic generation of the desired Bell state is then carried out by combining SWM-induced quantum state reduction with feedback control. The realtime implementation of the proposed control scheme is guaranteed by using the time delay control approach in which the computation time of filter-based control is compensated for by the delay time in control input.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130089465","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580479
M. Bergamasco, F. D. Rossa, L. Piroddi
Traditional active noise control (ANC) methods are based on adaptive filtering algorithms designed to minimize the noise variance. The convergence of such algorithms may be jeopardized in the presence of non-Gaussian noise signals, characterized by a marked impulsiveness (and infinite second-order moments), such as are frequently encountered in real-world acoustic settings. ANC methods have been recently extended to deal with such signals, modifying the weight update of the adaptive filter so that out-of-range samples are discarded or discounted. These methods require precise a priori knowledge of the impulsive characteristics of the noise and are generally not suitable for signals where such characteristics are time-varying. This work introduces an algorithm, based on an adaptive box-plot approach for outlier detection, which does not rely on any a priori information and yields uniformly high attenuation performance in all conditions tested in simulation.
{"title":"Active noise control of impulsive noise with selective outlier elimination","authors":"M. Bergamasco, F. D. Rossa, L. Piroddi","doi":"10.1109/ACC.2013.6580479","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580479","url":null,"abstract":"Traditional active noise control (ANC) methods are based on adaptive filtering algorithms designed to minimize the noise variance. The convergence of such algorithms may be jeopardized in the presence of non-Gaussian noise signals, characterized by a marked impulsiveness (and infinite second-order moments), such as are frequently encountered in real-world acoustic settings. ANC methods have been recently extended to deal with such signals, modifying the weight update of the adaptive filter so that out-of-range samples are discarded or discounted. These methods require precise a priori knowledge of the impulsive characteristics of the noise and are generally not suitable for signals where such characteristics are time-varying. This work introduces an algorithm, based on an adaptive box-plot approach for outlier detection, which does not rely on any a priori information and yields uniformly high attenuation performance in all conditions tested in simulation.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"13 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115714770","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 : 2013-08-16DOI: 10.1109/ACC.2013.6579864
Austin Jones, S. Andersson
For some applications in team robotics, a wireless electronic communication system is not ideal. We propose for some of these tasks that it is more appropriate to communicate through motion, that is by encoding symbols in locomotion and decoding symbols using sensor data. We discuss some of the challenges and requirements of such a system and derive for the LTI case control policies used to enact trajectories that optimize a joint expression of control energy and robustness to observation noise.
{"title":"A motion-based communication system","authors":"Austin Jones, S. Andersson","doi":"10.1109/ACC.2013.6579864","DOIUrl":"https://doi.org/10.1109/ACC.2013.6579864","url":null,"abstract":"For some applications in team robotics, a wireless electronic communication system is not ideal. We propose for some of these tasks that it is more appropriate to communicate through motion, that is by encoding symbols in locomotion and decoding symbols using sensor data. We discuss some of the challenges and requirements of such a system and derive for the LTI case control policies used to enact trajectories that optimize a joint expression of control energy and robustness to observation noise.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125525290","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580731
R. Gregg, J. Sensinger
This paper presents a novel control strategy for a powered knee-ankle prosthesis based on biomimetic virtual constraints. We begin by deriving kinematic constraints for the “effective shape” of the human leg during locomotion. This shape characterizes ankle and knee motion as a function of the Center of Pressure (COP)-the point on the foot sole where the ground reaction force is imparted. Since the COP moves monotonically from heel to toe during steady walking, we adopt the COP as the phase variable of an autonomous feedback controller. We show that our kinematic constraints can be enforced virtually by an output linearizing controller that uses only feedback available to sensors onboard a prosthetic leg. This controller produces walking gaits with human-like knee flexion in simulations of a 6-link biped with feet. Hence, both knee and ankle control can be coordinated by one simple control objective: maintaining a constant-curvature effective shape.
{"title":"Biomimetic virtual constraint control of a transfemoral powered prosthetic leg","authors":"R. Gregg, J. Sensinger","doi":"10.1109/ACC.2013.6580731","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580731","url":null,"abstract":"This paper presents a novel control strategy for a powered knee-ankle prosthesis based on biomimetic virtual constraints. We begin by deriving kinematic constraints for the “effective shape” of the human leg during locomotion. This shape characterizes ankle and knee motion as a function of the Center of Pressure (COP)-the point on the foot sole where the ground reaction force is imparted. Since the COP moves monotonically from heel to toe during steady walking, we adopt the COP as the phase variable of an autonomous feedback controller. We show that our kinematic constraints can be enforced virtually by an output linearizing controller that uses only feedback available to sensors onboard a prosthetic leg. This controller produces walking gaits with human-like knee flexion in simulations of a 6-link biped with feet. Hence, both knee and ankle control can be coordinated by one simple control objective: maintaining a constant-curvature effective shape.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"133 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124675812","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 : 2013-08-16DOI: 10.1109/ACC.2013.6580142
J. Burns, T. Herdman, L. Zietsman
In this paper we consider a control problem for the convection diffusion equation and investigate the impact of including actuator dynamics with delays. The problem is motivated by applications to control of energy efficient buildings where actuation is provided by a HVAC system. The basic model is governed by a parabolic partial differential equation (PDE) with boundary inputs. The boundary inputs are assumed to be the output of an actuator governed by a delay differential equation. Thus, one augments the PDE with a delay equation model of an actuator with delays. The combined system is described by a coupled delay partial differential equation. We show that under suitable conditions, the coupled delay PDE system is well posed in a standard Hilbert space and we use this corresponding abstract formulation to construct numerical methods for control design. We apply these results to a simple 1D boundary control system to illustrate the ideas and numerical methods.
{"title":"Approximating parabolic boundary control problems with delayed actuator dynamics","authors":"J. Burns, T. Herdman, L. Zietsman","doi":"10.1109/ACC.2013.6580142","DOIUrl":"https://doi.org/10.1109/ACC.2013.6580142","url":null,"abstract":"In this paper we consider a control problem for the convection diffusion equation and investigate the impact of including actuator dynamics with delays. The problem is motivated by applications to control of energy efficient buildings where actuation is provided by a HVAC system. The basic model is governed by a parabolic partial differential equation (PDE) with boundary inputs. The boundary inputs are assumed to be the output of an actuator governed by a delay differential equation. Thus, one augments the PDE with a delay equation model of an actuator with delays. The combined system is described by a coupled delay partial differential equation. We show that under suitable conditions, the coupled delay PDE system is well posed in a standard Hilbert space and we use this corresponding abstract formulation to construct numerical methods for control design. We apply these results to a simple 1D boundary control system to illustrate the ideas and numerical methods.","PeriodicalId":145065,"journal":{"name":"2013 American Control Conference","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129718235","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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