Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040358
Zhimin Han, Zhiyun Lin, M. Fu
This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant over-all group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.
{"title":"A fully distributed approach to formation maneuvering control of multi-agent systems","authors":"Zhimin Han, Zhiyun Lin, M. Fu","doi":"10.1109/CDC.2014.7040358","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040358","url":null,"abstract":"This paper studies the formation maneuvering control problem for a network of agents with the objective of achieving a desired group formation shape and a constant over-all group maneuvering velocity. A fully distributed approach is developed to solve the problem. That is, a control law is proposed for each agent in the network, with its parameters capable of being designed in a distributed manner, and is implementable locally via relative sensing and communication with neighbors. Necessary and sufficient conditions regarding a critical control parameter are obtained to guarantee the globally asymptotic convergence of the overall system for both the single-integrator kinematics case and the double-integrator dynamics case.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"470 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125232074","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039961
A. Dòria-Cerezo, J. M. Olm, M. Bernardo, Massimiliano Quaglia, Emmanuel Nuño
Multi-terminal VSC-HVDC transmission is a promising solution to transport energy from the generating plants to the distribution stations, and the number and size of the corresponding power grids is expected to increase in the next years. Such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, large scale systems of interconnected nodes fall within the framework of the emerging field of complex networks. This paper analyzes the stability of multi-terminal VSC-HVDC systems from a complex dynamical network perspective, and provides sufficient conditions to ensure bounded synchronization of its trajectories. The obtained results are validated via numerical simulations.
{"title":"Bounded synchronization in resistive multi-terminal VSC-HVDC transmission systems","authors":"A. Dòria-Cerezo, J. M. Olm, M. Bernardo, Massimiliano Quaglia, Emmanuel Nuño","doi":"10.1109/CDC.2014.7039961","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039961","url":null,"abstract":"Multi-terminal VSC-HVDC transmission is a promising solution to transport energy from the generating plants to the distribution stations, and the number and size of the corresponding power grids is expected to increase in the next years. Such a system presents challenging control problems that, so far, have been approached with classical control techniques. However, large scale systems of interconnected nodes fall within the framework of the emerging field of complex networks. This paper analyzes the stability of multi-terminal VSC-HVDC systems from a complex dynamical network perspective, and provides sufficient conditions to ensure bounded synchronization of its trajectories. The obtained results are validated via numerical simulations.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116912854","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039821
S. Lucia, R. Paulen, S. Engell
This paper presents an approach to verify robust constraint satisfaction using dynamic state bounding techniques in the framework of multi-stage Nonlinear Model Predictive Control (NMPC). In multi-stage NMPC, the uncertainty is described by a tree of discrete scenarios, and the future control inputs depend on the previous realizations of the uncertainty, constituting a closed-loop approach which has been shown to provide significantly better performance than an open-loop approach. While the approach has demonstrated very promising results in practice, one of the problems of multi-stage NMPC is the fact that no guarantees can be given for the uncertainty values that are not explicitly considered in the scenario tree. In this work, we address this problem by updating the resulting optimization problem in an iterative fashion such that the constraints satisfaction is guaranteed based on the rigorous bounding of the state variables over the set of possible uncertainty realizations. We illustrate that the approach can deal in real time with challenging problems by presenting simulation results of an industrial batch polymerization reactor.
{"title":"Multi-stage Nonlinear Model Predictive Control with verified robust constraint satisfaction","authors":"S. Lucia, R. Paulen, S. Engell","doi":"10.1109/CDC.2014.7039821","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039821","url":null,"abstract":"This paper presents an approach to verify robust constraint satisfaction using dynamic state bounding techniques in the framework of multi-stage Nonlinear Model Predictive Control (NMPC). In multi-stage NMPC, the uncertainty is described by a tree of discrete scenarios, and the future control inputs depend on the previous realizations of the uncertainty, constituting a closed-loop approach which has been shown to provide significantly better performance than an open-loop approach. While the approach has demonstrated very promising results in practice, one of the problems of multi-stage NMPC is the fact that no guarantees can be given for the uncertainty values that are not explicitly considered in the scenario tree. In this work, we address this problem by updating the resulting optimization problem in an iterative fashion such that the constraints satisfaction is guaranteed based on the rigorous bounding of the state variables over the set of possible uncertainty realizations. We illustrate that the approach can deal in real time with challenging problems by presenting simulation results of an industrial batch polymerization reactor.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116930989","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039840
G. R. Campos, P. Falcone, H. Wymeersch, Robert Hult, J. Sjöberg
In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.
{"title":"Cooperative receding horizon conflict resolution at traffic intersections","authors":"G. R. Campos, P. Falcone, H. Wymeersch, Robert Hult, J. Sjöberg","doi":"10.1109/CDC.2014.7039840","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039840","url":null,"abstract":"In this article, we consider the problem of coordinating a number of vehicles crossing a traffic intersection. The proposed solution is based on a receding horizon formulation with a pre-defined decision order. In this approach, local problems are formulated for each vehicle, which are divided into a finite-time optimal control problem, where collision avoidance is enforced as terminal constraints, and an infinite horizon control problem, which can be solved offline. Feasibility conditions for a given decision sequence are also derived and simulation results are presented.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"17 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120822538","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039875
H. Shaker, M. Tahavori
The control technology has been orientated towards decentralized and partially decentralized control strategies. To ensure the success of a decentralized or a partially decentralized control in practice, the first necessary step is to determine a suitable control structure. The control structure selection which is the task of selecting suitable input and output pairs for control design is therefore very important. This paper focuses on control structure selection for discrete-time MIMO bilinear systems. The generalized cross-gramian is introduced in this paper for discrete-time bilinear processes and plants. The existence of the generalized cross-gramian is studied and it is shown that if the cross-gramian exists, it can be obtained by solving a generalized Sylvester equation. To solve the generalized Sylvester equation in a computationally efficient way, an iterative method is developed and presented. The generalized cross-gramians are computed for all SISO subsystems of the discrete-time MIMO bilinear systems. These gramians are used to build the generalized Hankel Interaction Index Array which is used for control structure selection. The proposed method for control structure selection is among the few methods supporting bilinear processes and plants, enjoys the advantages of gramian based methods and it is more efficient in terms of computations compared to its counterparts.
{"title":"Generalized Hankel Interaction Index Array for control structure selection for discrete-time MIMO bilinear processes and plants","authors":"H. Shaker, M. Tahavori","doi":"10.1109/CDC.2014.7039875","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039875","url":null,"abstract":"The control technology has been orientated towards decentralized and partially decentralized control strategies. To ensure the success of a decentralized or a partially decentralized control in practice, the first necessary step is to determine a suitable control structure. The control structure selection which is the task of selecting suitable input and output pairs for control design is therefore very important. This paper focuses on control structure selection for discrete-time MIMO bilinear systems. The generalized cross-gramian is introduced in this paper for discrete-time bilinear processes and plants. The existence of the generalized cross-gramian is studied and it is shown that if the cross-gramian exists, it can be obtained by solving a generalized Sylvester equation. To solve the generalized Sylvester equation in a computationally efficient way, an iterative method is developed and presented. The generalized cross-gramians are computed for all SISO subsystems of the discrete-time MIMO bilinear systems. These gramians are used to build the generalized Hankel Interaction Index Array which is used for control structure selection. The proposed method for control structure selection is among the few methods supporting bilinear processes and plants, enjoys the advantages of gramian based methods and it is more efficient in terms of computations compared to its counterparts.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127075475","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039564
Thang Nguyen-Tien, C. Edwards, G. Herrmann, T. Hatano, S. Burgess, M. Miles
This paper studies the dynamics of the cantilever in a Transverse Dynamic Force Microscope (TDFM). A series expansion approach for the irrational transfer functions of modelling the cantilever dynamics is presented in terms of an infinite sum of second-order rational transfer functions and a finite dimensional linear time invariant (LTI) system model is developed. An approximate model of the cantilever can then be obtained using a finite number of rational transfer functions. This approach preserves the physical constants from the underlying partial differential equation, and retains them in the approximate model. Future work will use these finite dimensional LTI systems as the basis for the design of observers and controllers for the TDFM at the NSQI centre at the University of Bristol.
{"title":"Cantilever dynamics modelling for the Transverse Dynamic Force Microscope","authors":"Thang Nguyen-Tien, C. Edwards, G. Herrmann, T. Hatano, S. Burgess, M. Miles","doi":"10.1109/CDC.2014.7039564","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039564","url":null,"abstract":"This paper studies the dynamics of the cantilever in a Transverse Dynamic Force Microscope (TDFM). A series expansion approach for the irrational transfer functions of modelling the cantilever dynamics is presented in terms of an infinite sum of second-order rational transfer functions and a finite dimensional linear time invariant (LTI) system model is developed. An approximate model of the cantilever can then be obtained using a finite number of rational transfer functions. This approach preserves the physical constants from the underlying partial differential equation, and retains them in the approximate model. Future work will use these finite dimensional LTI systems as the basis for the design of observers and controllers for the TDFM at the NSQI centre at the University of Bristol.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127350444","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039733
S. Sojoudi, Ramtin Madani, G. Fazelnia, J. Lavaei
The objective of this tutorial paper is to study a general polynomial optimization problem using a semidefinite programming (SDP) relaxation. The first goal is to show how the underlying structure and sparsity of an optimization problem affect its computational complexity. Graph-theoretic algorithms are presented to address this problem based on the notions of low-rank optimization and matrix completion. By building on this result, it is then shown that every polynomial optimization problem admits a sparse representation whose SDP relaxation has a rank 1 or 2 solution. The implications of these results are discussed in details and their applications in decentralized control and power systems are also studied.
{"title":"Graph-theoretic algorithms for polynomial optimization problems","authors":"S. Sojoudi, Ramtin Madani, G. Fazelnia, J. Lavaei","doi":"10.1109/CDC.2014.7039733","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039733","url":null,"abstract":"The objective of this tutorial paper is to study a general polynomial optimization problem using a semidefinite programming (SDP) relaxation. The first goal is to show how the underlying structure and sparsity of an optimization problem affect its computational complexity. Graph-theoretic algorithms are presented to address this problem based on the notions of low-rank optimization and matrix completion. By building on this result, it is then shown that every polynomial optimization problem admits a sparse representation whose SDP relaxation has a rank 1 or 2 solution. The implications of these results are discussed in details and their applications in decentralized control and power systems are also studied.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127437546","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039595
Shalabh Jain, Tuan Ta, J. Baras
Distributed control, decision and inference schemes are ubiquitous in many current technological systems ranging from sensor networks, collaborative teams of humans and robots, and information retrieval systems. Privacy, both location and identity, is critical for many of these systems and applications. The principal thesis investigated in this paper is that the utilization of physical layer methods and implementation techniques substantially strengthens privacy in the associated algorithms and systems. In fact it is argued that without the utilization of such physical layer methods it may be expensive to have provable levels of security in these systems. We analyze the performance of such physical layer techniques. We then utilize these techniques to provide provable privacy in distributed control, decision and inference algorithms. We demonstrate the results in context of distributed Kalman filtering. We develop useful metrics to measure privacy in these distributed systems. We investigate quantitatively the effects of privacy loss on the performance of the systems.
{"title":"Physical layer methods for privacy provision in distributed control and inference","authors":"Shalabh Jain, Tuan Ta, J. Baras","doi":"10.1109/CDC.2014.7039595","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039595","url":null,"abstract":"Distributed control, decision and inference schemes are ubiquitous in many current technological systems ranging from sensor networks, collaborative teams of humans and robots, and information retrieval systems. Privacy, both location and identity, is critical for many of these systems and applications. The principal thesis investigated in this paper is that the utilization of physical layer methods and implementation techniques substantially strengthens privacy in the associated algorithms and systems. In fact it is argued that without the utilization of such physical layer methods it may be expensive to have provable levels of security in these systems. We analyze the performance of such physical layer techniques. We then utilize these techniques to provide provable privacy in distributed control, decision and inference algorithms. We demonstrate the results in context of distributed Kalman filtering. We develop useful metrics to measure privacy in these distributed systems. We investigate quantitatively the effects of privacy loss on the performance of the systems.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124840646","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039504
Xuan Zhang, A. Papachristodoulou
In this paper, we propose modifications in the generation control in power systems to improve the economic efficiency, stability and robustness of generator regulation in real time. We first present the state-space description of a conventional power network model describing system dynamics around a nominal operating condition. We then formulate an optimization problem describing system regulation under exogenous disturbances, following which the redesign methodology is presented. The optimality, stability and delay robustness of the redesigned dynamics are studied, where we also introduce controllable loads. The performance of the redesigned control scheme is illustrated by numerical examples.
{"title":"Redesigning generation control in power systems: Methodology, stability and delay robustness","authors":"Xuan Zhang, A. Papachristodoulou","doi":"10.1109/CDC.2014.7039504","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039504","url":null,"abstract":"In this paper, we propose modifications in the generation control in power systems to improve the economic efficiency, stability and robustness of generator regulation in real time. We first present the state-space description of a conventional power network model describing system dynamics around a nominal operating condition. We then formulate an optimization problem describing system regulation under exogenous disturbances, following which the redesign methodology is presented. The optimality, stability and delay robustness of the redesigned dynamics are studied, where we also introduce controllable loads. The performance of the redesigned control scheme is illustrated by numerical examples.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125081436","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 : 2014-12-01DOI: 10.1109/CDC.2014.7039493
A. Bisoffi, M. Lio, L. Zaccarian
In this paper we propose a novel model of the ripple produced in different contexts involving switching power electronics. The novelty of this model is that the nonsmooth waveform characterizing the ripple is captured by a suitable hybrid dynamics performing state jumps at the switching instants. In addition to showing that this model is effective at representing the ripple waveform, we propose two hybrid schemes ensuring asymptotic observation of the ripple waveform, one of them using knowledge of the switching instants and a second one without knowledge of the switching instants. Simulation results illustrate the effectiveness of the proposed hybrid observation laws.
{"title":"A hybrid ripple model and two hybrid observers for its estimation","authors":"A. Bisoffi, M. Lio, L. Zaccarian","doi":"10.1109/CDC.2014.7039493","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039493","url":null,"abstract":"In this paper we propose a novel model of the ripple produced in different contexts involving switching power electronics. The novelty of this model is that the nonsmooth waveform characterizing the ripple is captured by a suitable hybrid dynamics performing state jumps at the switching instants. In addition to showing that this model is effective at representing the ripple waveform, we propose two hybrid schemes ensuring asymptotic observation of the ripple waveform, one of them using knowledge of the switching instants and a second one without knowledge of the switching instants. Simulation results illustrate the effectiveness of the proposed hybrid observation laws.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125960732","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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