Pub Date : 2014-12-01DOI: 10.1109/CDC.2014.7040282
A. Busetto, J. Lygeros
This study is primarily motivated by biological applications and focuses on the identification of Boolean networks from scarce and noisy data. We consider two Bayesian experimental design scenarios: selection of the observations under a budget, and input design. The goal is to maximize the mutual information between models and data, that is the ultimate statistical upper bound on the identifiability of a system from empirical data. First, we introduce a method to select which components of the state variable to measure under a budget constraint, and at which time points. Our greedy approach takes advantage of the submodularity of the mutual information, and hence requires only a polynomial number of evaluations of the objective to achieve near-optimal designs. Second, we consider the computationally harder task of designing sequences of input interventions, and propose a likelihood-free approximation method. Exact and approximate design solutions are verified with predictive models of genetic regulatory interaction networks in embryonic development.
{"title":"Experimental design for system identification of Boolean Control Networks in biology","authors":"A. Busetto, J. Lygeros","doi":"10.1109/CDC.2014.7040282","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040282","url":null,"abstract":"This study is primarily motivated by biological applications and focuses on the identification of Boolean networks from scarce and noisy data. We consider two Bayesian experimental design scenarios: selection of the observations under a budget, and input design. The goal is to maximize the mutual information between models and data, that is the ultimate statistical upper bound on the identifiability of a system from empirical data. First, we introduce a method to select which components of the state variable to measure under a budget constraint, and at which time points. Our greedy approach takes advantage of the submodularity of the mutual information, and hence requires only a polynomial number of evaluations of the objective to achieve near-optimal designs. Second, we consider the computationally harder task of designing sequences of input interventions, and propose a likelihood-free approximation method. Exact and approximate design solutions are verified with predictive models of genetic regulatory interaction networks in embryonic development.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"48 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":"122705461","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.2014.7040297
M. Mabrok, D. Dong, Chunlin Chen, I. Petersen
In this paper, a sampling-based learning control (SLC) algorithm is used to find a robust control law that can steer a quantum system with uncertainties into a maximally entangled state. The quantum system under consideration consists of two two-level atoms interacting with a quantized electromagnetic field. In the sampling-based learning control method, an artificial system is constructed based on the quantum system with uncertainties and an optimal control law is learned for the artificial system. Some additional samples which are generated by sampling the uncertainty parameters are used to test the performance of the optimal control law. Numerical results demonstrate the effectiveness of the SLC method in finding a robust control law for entanglement generation between two atoms in a cavity in the presence of a quantized field.
{"title":"Robust entanglement control between two atoms in a cavity using sampling-based learning control","authors":"M. Mabrok, D. Dong, Chunlin Chen, I. Petersen","doi":"10.1109/CDC.2014.7040297","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040297","url":null,"abstract":"In this paper, a sampling-based learning control (SLC) algorithm is used to find a robust control law that can steer a quantum system with uncertainties into a maximally entangled state. The quantum system under consideration consists of two two-level atoms interacting with a quantized electromagnetic field. In the sampling-based learning control method, an artificial system is constructed based on the quantum system with uncertainties and an optimal control law is learned for the artificial system. Some additional samples which are generated by sampling the uncertainty parameters are used to test the performance of the optimal control law. Numerical results demonstrate the effectiveness of the SLC method in finding a robust control law for entanglement generation between two atoms in a cavity in the presence of a quantized field.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"77 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":"122716211","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.2014.7039697
H. Kodamana, S. Bhartiya
This article considers the adaptive robust constrained regulation problem for a class of nonlinear plants with bounded additive disturbances. The nonlinear dynamics of the plant are approximated as an uncertain Quasi-Linear Parameter Varying (Q-LPV) system in which the time varying parameter consist of an on-line adaptation of weights of multiple linear models. The overall multiple model representation consists of a convex combination of the individual models. The uncertainty bounds on the Q-LPV system are “designed” to include the plant-model mismatch in addition to the disturbance bounds. In particular, these uncertainty bounds are computed based on inclusion functions obtained using Bernstein polynomial and interval based bounding. The resulting robust regulation problem of the nonlinear plant is posed as Robust Tube Based Model Predictive Control (RTBMPC) of the uncertain Q-LPV system with “designed” uncertainty bounds. The proposed control strategy is demonstrated for robust regulation of Van de Vusse reactor, a significantly nonlinear system.
研究一类具有有界加性扰动的非线性对象的自适应鲁棒约束调节问题。将对象的非线性动力学近似为一个不确定的准线性变参系统，该系统的时变参数由多个线性模型的权值的在线自适应组成。整体的多模型表示由单个模型的凸组合组成。Q-LPV系统的不确定性界被“设计”为除扰动界外还包括植物-模型不匹配。特别是，这些不确定性边界是基于Bernstein多项式和区间边界得到的包含函数来计算的。将非线性对象的鲁棒调节问题化为具有“设计”不确定性界的不确定Q-LPV系统的鲁棒管模型预测控制(RTBMPC)。对Van de Vusse电抗器这一严重非线性系统的鲁棒调节进行了验证。
{"title":"Adaptive robust model predictive control of nonlinear systems using tubes based on interval inclusions","authors":"H. Kodamana, S. Bhartiya","doi":"10.1109/CDC.2014.7039697","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039697","url":null,"abstract":"This article considers the adaptive robust constrained regulation problem for a class of nonlinear plants with bounded additive disturbances. The nonlinear dynamics of the plant are approximated as an uncertain Quasi-Linear Parameter Varying (Q-LPV) system in which the time varying parameter consist of an on-line adaptation of weights of multiple linear models. The overall multiple model representation consists of a convex combination of the individual models. The uncertainty bounds on the Q-LPV system are “designed” to include the plant-model mismatch in addition to the disturbance bounds. In particular, these uncertainty bounds are computed based on inclusion functions obtained using Bernstein polynomial and interval based bounding. The resulting robust regulation problem of the nonlinear plant is posed as Robust Tube Based Model Predictive Control (RTBMPC) of the uncertain Q-LPV system with “designed” uncertainty bounds. The proposed control strategy is demonstrated for robust regulation of Van de Vusse reactor, a significantly nonlinear system.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"61 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":"122944417","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.2014.7040172
M. Wielitzka, M. Dagen, T. Ortmaier
In order to improve vehicle's active safety systems accurate knowledge about the vehicle's driving stability is necessary. Especially the exact determination of the side-slip angle can be of great importance, since it has major potential for improving current control algorithms. Therefore, a model-based methodology for online estimation of vehicle's lateral dynamics is presented, while generalizations of the Kalman Filter algorithm, the Extended and Unscented Kalman Filters are used due to the highly non-linear model behavior. The results of the introduced methodologies are presented for two different driving maneuvers and validated comparing to measurements taken with a VW Golf GTI. Furthermore, a qualitative comparison between Extended and Unscented Kalman Filter is realized.
{"title":"State estimation of vehicle's lateral dynamics using unscented Kalman filter","authors":"M. Wielitzka, M. Dagen, T. Ortmaier","doi":"10.1109/CDC.2014.7040172","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040172","url":null,"abstract":"In order to improve vehicle's active safety systems accurate knowledge about the vehicle's driving stability is necessary. Especially the exact determination of the side-slip angle can be of great importance, since it has major potential for improving current control algorithms. Therefore, a model-based methodology for online estimation of vehicle's lateral dynamics is presented, while generalizations of the Kalman Filter algorithm, the Extended and Unscented Kalman Filters are used due to the highly non-linear model behavior. The results of the introduced methodologies are presented for two different driving maneuvers and validated comparing to measurements taken with a VW Golf GTI. Furthermore, a qualitative comparison between Extended and Unscented Kalman Filter is realized.","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":"122640125","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.2014.7040433
Yajing Liu, E. Chong, A. Pezeshki, W. Moran
In this paper, we will develop a systematic approach to deriving guaranteed bounds for approximate dynamic programming (ADP) schemes in optimal control problems. Our approach is inspired by our recent results on bounding the performance of greedy strategies in optimization of string functions over a finite horizon. The approach is to derive a string-optimization problem, for which the optimal strategy is the optimal control solution and the greedy strategy is the ADP solution. Using this approach, we show that any ADP solution achieves a performance that is at least a factor of β of the performance of the optimal control solution, characterized by Bellman's optimality principle. The factor β depends on the specific ADP scheme, as we will explicitly characterize. To illustrate the applicability of our bounding technique, we present examples of ADP schemes, including the popular rollout method.
{"title":"Bounds for approximate dynamic programming based on string optimization and curvature","authors":"Yajing Liu, E. Chong, A. Pezeshki, W. Moran","doi":"10.1109/CDC.2014.7040433","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040433","url":null,"abstract":"In this paper, we will develop a systematic approach to deriving guaranteed bounds for approximate dynamic programming (ADP) schemes in optimal control problems. Our approach is inspired by our recent results on bounding the performance of greedy strategies in optimization of string functions over a finite horizon. The approach is to derive a string-optimization problem, for which the optimal strategy is the optimal control solution and the greedy strategy is the ADP solution. Using this approach, we show that any ADP solution achieves a performance that is at least a factor of β of the performance of the optimal control solution, characterized by Bellman's optimality principle. The factor β depends on the specific ADP scheme, as we will explicitly characterize. To illustrate the applicability of our bounding technique, we present examples of ADP schemes, including the popular rollout method.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"201 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":"123033984","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.2014.7040022
Gilberto Pin, M. Karimi-Ghartemani, Boli Chen, T. Parisini
In this paper, an Enhanced Phase-Locked Loop (EPLL) architecture is proposed to deal with the problem of estimating the amplitude, the frequency and the phase of a sinusoidal signal from a noisy measurement. The EPLL scheme is chacterized by an error filter and a phase-feedforward term that are embedded in the estimation algorithm for improved noise rejection and transient performances. By designing the error filter and by selecting the parameters of the PLL according to the guidelines suggested by the stability proof, the technique addressed in the paper allows to cope with the presence of measurement bias while damping the effect of high-frequency noise and harmonics. Simulation comparisons show the effectiveness of the proposed estimation technique.
{"title":"Sinusoidal signal estimation from a noisy-biased measurement by an enhanced PLL with generalized error filtering","authors":"Gilberto Pin, M. Karimi-Ghartemani, Boli Chen, T. Parisini","doi":"10.1109/CDC.2014.7040022","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040022","url":null,"abstract":"In this paper, an Enhanced Phase-Locked Loop (EPLL) architecture is proposed to deal with the problem of estimating the amplitude, the frequency and the phase of a sinusoidal signal from a noisy measurement. The EPLL scheme is chacterized by an error filter and a phase-feedforward term that are embedded in the estimation algorithm for improved noise rejection and transient performances. By designing the error filter and by selecting the parameters of the PLL according to the guidelines suggested by the stability proof, the technique addressed in the paper allows to cope with the presence of measurement bias while damping the effect of high-frequency noise and harmonics. Simulation comparisons show the effectiveness of the proposed estimation technique.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"35 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114128560","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.2014.7039896
M. Cvetković, M. Ilić
Transient stabilization of power systems in response to large disturbances is a challenging problem of high complexity. The complexity arises from the large number of system states and the nonlinearities in system dynamics which evolve at various time scales. The first contribution of this paper is a two-level approach to multi-time scale modeling of power system dynamics which includes dynamics of power-electronically controlled devices, such as Flexible AC Transmission Systems (FACTS) and High Voltage Direct Current (HVDC) lines. This approach proposes an interaction variable-based power system model suitable for the design of the FACTS controllers. The second contribution is an ectropy-based cooperative controller for FACTS capable of transiently stabilizing generator dynamics and extending the critical clearing time of a fault.
{"title":"Cooperative line-flow power electronics control for transient stabilization","authors":"M. Cvetković, M. Ilić","doi":"10.1109/CDC.2014.7039896","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039896","url":null,"abstract":"Transient stabilization of power systems in response to large disturbances is a challenging problem of high complexity. The complexity arises from the large number of system states and the nonlinearities in system dynamics which evolve at various time scales. The first contribution of this paper is a two-level approach to multi-time scale modeling of power system dynamics which includes dynamics of power-electronically controlled devices, such as Flexible AC Transmission Systems (FACTS) and High Voltage Direct Current (HVDC) lines. This approach proposes an interaction variable-based power system model suitable for the design of the FACTS controllers. The second contribution is an ectropy-based cooperative controller for FACTS capable of transiently stabilizing generator dynamics and extending the critical clearing time of a fault.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"111 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":"114249288","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.2014.7040138
H. Sussmann
We prove, for real-analytic subriemannian metrics, that if a trajectory parametrized by arc-length is an arc-length minimizer, then the trajectory is real-analytic on an open dense subset of its interval of definition.
{"title":"A regularity theorem for minimizers of real-analytic subriemannian metrics","authors":"H. Sussmann","doi":"10.1109/CDC.2014.7040138","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040138","url":null,"abstract":"We prove, for real-analytic subriemannian metrics, that if a trajectory parametrized by arc-length is an arc-length minimizer, then the trajectory is real-analytic on an open dense subset of its interval of definition.","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":"122192267","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.2014.7040322
Shoichi Yokota, S. Takai
We consider decentralized diagnosis of discrete event systems in the conditional disjunctive architecture. A notion of conditional disjunctive-codiagnosability, which guarantees the detection of any failure by a conditional disjunctive decentralized diagnoser within a bounded number of steps, has been defined in the literature. In this paper, we compute the minimum number of steps, called the delay bound, within which the occurrence of any failure can be detected by conditional disjunctive decentralized diagnosis. The delay bound is important to evaluate the ability of diagnosis. In addition, it can be used to synthesize a conditional disjunctive decentralized diagnoser for a conditional disjunctive-codiagnosable system.
{"title":"Computation of the delay bound in decentralized diagnosis of discrete event systems with conditional decisions","authors":"Shoichi Yokota, S. Takai","doi":"10.1109/CDC.2014.7040322","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040322","url":null,"abstract":"We consider decentralized diagnosis of discrete event systems in the conditional disjunctive architecture. A notion of conditional disjunctive-codiagnosability, which guarantees the detection of any failure by a conditional disjunctive decentralized diagnoser within a bounded number of steps, has been defined in the literature. In this paper, we compute the minimum number of steps, called the delay bound, within which the occurrence of any failure can be detected by conditional disjunctive decentralized diagnosis. The delay bound is important to evaluate the ability of diagnosis. In addition, it can be used to synthesize a conditional disjunctive decentralized diagnoser for a conditional disjunctive-codiagnosable system.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"53 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":"122198922","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.2014.7039931
A. Kizilkale, R. Malhamé
As part of a system wide optimization problem in smart grids it is required that the mean temperature of a massive number of space heating devices associated with energy storage follow a precomputed target temperature trajectory. The classical control approach is to evaluate the required signal centrally for each device and to send that signal. However, the corresponding computational and communication requirements can be forbidding. In previous work [1] an integral error based decentralized mean field control approach was followed, the corresponding system of mean field equations was developed, and an ∈-Nash theorem was presented. In this work a cooperative mean field formulation [2] is utilized whereby the resulting set of strategies asymptotically achieves the social optimum as N → ∞. The corresponding system of mean field equations is developed, an ∈-Nash theorem is presented, and numerical simulations are provided for comparing results based on the two approaches.
{"title":"A class of collective target tracking problems in energy systems: Cooperative versus non-cooperative mean field control solutions","authors":"A. Kizilkale, R. Malhamé","doi":"10.1109/CDC.2014.7039931","DOIUrl":"https://doi.org/10.1109/CDC.2014.7039931","url":null,"abstract":"As part of a system wide optimization problem in smart grids it is required that the mean temperature of a massive number of space heating devices associated with energy storage follow a precomputed target temperature trajectory. The classical control approach is to evaluate the required signal centrally for each device and to send that signal. However, the corresponding computational and communication requirements can be forbidding. In previous work [1] an integral error based decentralized mean field control approach was followed, the corresponding system of mean field equations was developed, and an ∈-Nash theorem was presented. In this work a cooperative mean field formulation [2] is utilized whereby the resulting set of strategies asymptotically achieves the social optimum as N → ∞. The corresponding system of mean field equations is developed, an ∈-Nash theorem is presented, and numerical simulations are provided for comparing results based on the two approaches.","PeriodicalId":202708,"journal":{"name":"53rd IEEE Conference on Decision and Control","volume":"14 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":"117020845","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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