Pub Date : 2018-06-01DOI: 10.23919/ECC.2018.8550096
F. J. Muros, J. Maestre, C. Ocampo‐Martinez, E. Algaba, E. Camacho
In this paper, tools from cooperative game theory are combined with predictive control to perform the partitioning of large-scale systems (LSS). More specifically, a partitioning algorithm based on the Shapley value to rank the links by using a cooperative cost game is proposed. To this end, coalitional model predictive control, which offers a trade-off between control performance and communication burden, is considered to assess the value of the coalitions in the game. Also, combinatorial explosion issues are relieved by means of an attribution of value to the links based on the nodes they connect. The proposed method is implemented in the Barcelona drinking water network as a real LSS case study, showing the effectiveness of the proposed approach.
{"title":"Partitioning of Large-Scale Systems using Game-Theoretic Coalitional Methods","authors":"F. J. Muros, J. Maestre, C. Ocampo‐Martinez, E. Algaba, E. Camacho","doi":"10.23919/ECC.2018.8550096","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550096","url":null,"abstract":"In this paper, tools from cooperative game theory are combined with predictive control to perform the partitioning of large-scale systems (LSS). More specifically, a partitioning algorithm based on the Shapley value to rank the links by using a cooperative cost game is proposed. To this end, coalitional model predictive control, which offers a trade-off between control performance and communication burden, is considered to assess the value of the coalitions in the game. Also, combinatorial explosion issues are relieved by means of an attribution of value to the links based on the nodes they connect. The proposed method is implemented in the Barcelona drinking water network as a real LSS case study, showing the effectiveness of the proposed approach.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128187727","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550336
R. Caverly, S. D. Cairano, A. Weiss
This paper introduces a novel on-off quantization scheme used with a control architecture based on model predictive control (MPC) to simultaneously perform station keeping, attitude control, and momentum management of a nadir-pointing geostationary satellite equipped with three reaction wheels and four on-off electric thrusters. The MPC policy includes an inner-loop SO(3)-based attitude control law to maintain a nadir-pointing attitude, and an outer loop for station keeping and momentum management. The continuous thrust command generated by the MPC policy is quantized as a single on-off pulse every feedback period in such a way that the predicted error in the states induced by quantization is minimized. This quantization scheme introduces very limited change in behavior and performance compared to results with the non-quantized MPC policy, and uses significantly less on-off pulses compared to other approaches in the literature, such as pulse-width modulation. The tuning parameters of the proposed quantization scheme are discussed in detail and their effects on closed-loop performance are analyzed numerically.
{"title":"On-Off Quantization of an MPC Policy for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites","authors":"R. Caverly, S. D. Cairano, A. Weiss","doi":"10.23919/ECC.2018.8550336","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550336","url":null,"abstract":"This paper introduces a novel on-off quantization scheme used with a control architecture based on model predictive control (MPC) to simultaneously perform station keeping, attitude control, and momentum management of a nadir-pointing geostationary satellite equipped with three reaction wheels and four on-off electric thrusters. The MPC policy includes an inner-loop SO(3)-based attitude control law to maintain a nadir-pointing attitude, and an outer loop for station keeping and momentum management. The continuous thrust command generated by the MPC policy is quantized as a single on-off pulse every feedback period in such a way that the predicted error in the states induced by quantization is minimized. This quantization scheme introduces very limited change in behavior and performance compared to results with the non-quantized MPC policy, and uses significantly less on-off pulses compared to other approaches in the literature, such as pulse-width modulation. The tuning parameters of the proposed quantization scheme are discussed in detail and their effects on closed-loop performance are analyzed numerically.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128582509","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550163
Juwon Lee, Kunhee Ryu, J. Back
The dynamic average consensus problem for a group of agents is considered. Each agent is supposed to estimate the average of inputs applied to all agents in a distributed manner. A new structure for the distributed average estimator which can embed the internal model of inputs is proposed. Constructive design procedures are also given for the cases with constant inputs and time-varying inputs. The proposed estimator is validated via numerical simulations.
{"title":"An internal model-based discrete-time dynamic average consensus estimator","authors":"Juwon Lee, Kunhee Ryu, J. Back","doi":"10.23919/ECC.2018.8550163","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550163","url":null,"abstract":"The dynamic average consensus problem for a group of agents is considered. Each agent is supposed to estimate the average of inputs applied to all agents in a distributed manner. A new structure for the distributed average estimator which can embed the internal model of inputs is proposed. Constructive design procedures are also given for the cases with constant inputs and time-varying inputs. The proposed estimator is validated via numerical simulations.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130012412","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550562
Christophe Labar, Jan Feiling, C. Ebenbauer
In this paper, we propose model-free extremum seeking systems approximating a filtered-gradient descent law, instead of a simple gradient descent law. Namely, we consider that the gradient is low pass filtered before being fed in the gradient descent law. Exploiting the Lie bracket formalism, we derive general classes of systems that approximate the filtered- gradient descent law, and we focus on four particular schemes. The first ensures the boundedness of the update rates. The last three adapt the dither amplitude to enhance the steady state accuracy. The performances of those schemes are analyzed in simulation and compared with the performances of extremum seeking systems approximating a simple gradient descent law.
{"title":"Gradient-Based Extremum Seeking: Performance Tuning via Lie Bracket Approximations","authors":"Christophe Labar, Jan Feiling, C. Ebenbauer","doi":"10.23919/ECC.2018.8550562","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550562","url":null,"abstract":"In this paper, we propose model-free extremum seeking systems approximating a filtered-gradient descent law, instead of a simple gradient descent law. Namely, we consider that the gradient is low pass filtered before being fed in the gradient descent law. Exploiting the Lie bracket formalism, we derive general classes of systems that approximate the filtered- gradient descent law, and we focus on four particular schemes. The first ensures the boundedness of the update rates. The last three adapt the dither amplitude to enhance the steady state accuracy. The performances of those schemes are analyzed in simulation and compared with the performances of extremum seeking systems approximating a simple gradient descent law.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130069102","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550519
A. Popescu, G. Besançon, A. Voda
This paper proposes a new approach for a robust estimation of unknown inputs as well as state variables in a dynamical system subject to noise or uncertainties. Following a recently proposed control-based methodology for observer design, the idea here is to take advantage of robust control methods, and in particular of $H_{infty }$ techniques. This provides a new method which is applied for an example of tunneling current estimation in an STM-like device. Simulation results are finally provided together with a comparison to the formerly available $H_{infty }$ filtering, but also to the robust sliding-mode technique.
{"title":"A new robust observer approach for unknown input and state estimation","authors":"A. Popescu, G. Besançon, A. Voda","doi":"10.23919/ECC.2018.8550519","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550519","url":null,"abstract":"This paper proposes a new approach for a robust estimation of unknown inputs as well as state variables in a dynamical system subject to noise or uncertainties. Following a recently proposed control-based methodology for observer design, the idea here is to take advantage of robust control methods, and in particular of $H_{infty }$ techniques. This provides a new method which is applied for an example of tunneling current estimation in an STM-like device. Simulation results are finally provided together with a comparison to the formerly available $H_{infty }$ filtering, but also to the robust sliding-mode technique.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129087336","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550536
D. Bazylev, A. Pyrkin, A. Bobtsov
In this paper a new nonlinear parameterization of permanent magnet synchronous motor (PMSM) model is proposed for the case of an uncertain stator resistance. The assumption of known inductance only is applied. After parameterization the regression model of six parameters is obtained from which it becomes possible to reconstruct the resistance and two necessary parameters involved in the position and speed observers design. The dynamic regressor extension and mixing (DREM) estimator is used to provide good performance and fast estimation of a large regression model which is preferable than the standard gradient approach. Simulation results illustrating proposed approach are given.
{"title":"Position and speed observer for PMSM with unknown stator resistance","authors":"D. Bazylev, A. Pyrkin, A. Bobtsov","doi":"10.23919/ECC.2018.8550536","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550536","url":null,"abstract":"In this paper a new nonlinear parameterization of permanent magnet synchronous motor (PMSM) model is proposed for the case of an uncertain stator resistance. The assumption of known inductance only is applied. After parameterization the regression model of six parameters is obtained from which it becomes possible to reconstruct the resistance and two necessary parameters involved in the position and speed observers design. The dynamic regressor extension and mixing (DREM) estimator is used to provide good performance and fast estimation of a large regression model which is preferable than the standard gradient approach. Simulation results illustrating proposed approach are given.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125683992","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550211
P. Lima, W. Erlhagen
In this paper we describe a neural field model which explains how a population of cortical neurons may encode in its firing pattern simultaneously the nature and time of sequential stimulus events. From the mathematical point of view, this is obtained my means of a two-dimensional field, where one dimension represents the nature of the event (for example the color of a light signal) and the other represents the elapsed time. Some numerical experiments are reported which were carried out using a computational algorithm for two-dimensional neural field equations. These numerical experiments are described and their results are discussed.
{"title":"Numerical simulations of two-dimensional neural fields with applications to working memory","authors":"P. Lima, W. Erlhagen","doi":"10.23919/ECC.2018.8550211","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550211","url":null,"abstract":"In this paper we describe a neural field model which explains how a population of cortical neurons may encode in its firing pattern simultaneously the nature and time of sequential stimulus events. From the mathematical point of view, this is obtained my means of a two-dimensional field, where one dimension represents the nature of the event (for example the color of a light signal) and the other represents the elapsed time. Some numerical experiments are reported which were carried out using a computational algorithm for two-dimensional neural field equations. These numerical experiments are described and their results are discussed.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128904964","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550141
P. Berner, M. Mönnigmann
We improve a recently proposed networked MPC approach by reducing the memory and computational requirements for the local nodes and by reducing the network use. The networked MPC setup consists of a powerful central node that provides one or multiple local nodes with regionally optimal affine feedback laws. Whenever the region of optimality of a current affine law is left on one of the local nodes, this local node requests a new optimal law from the central node. Since the local node uses lean hardware, computational and memory resources are restricted. Similarly, network usage should be as small as possible. The proposed method essentially increases the sampling time and reduces the horizon of the underlying MPC, which results in the desired reductions on the local node and the network usage. We show that the feedback laws can be overclocked on the local nodes to compensate for the loss of performance due to longer sampling times and shorter horizons. Results are obtained from hardware-in-the-loop simulations with a micro controller and a PC as local and central nodes, respectively, and with a wireless network.
{"title":"Event-Based Networked Model Predictive Control With Overclocked Local Nodes","authors":"P. Berner, M. Mönnigmann","doi":"10.23919/ECC.2018.8550141","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550141","url":null,"abstract":"We improve a recently proposed networked MPC approach by reducing the memory and computational requirements for the local nodes and by reducing the network use. The networked MPC setup consists of a powerful central node that provides one or multiple local nodes with regionally optimal affine feedback laws. Whenever the region of optimality of a current affine law is left on one of the local nodes, this local node requests a new optimal law from the central node. Since the local node uses lean hardware, computational and memory resources are restricted. Similarly, network usage should be as small as possible. The proposed method essentially increases the sampling time and reduces the horizon of the underlying MPC, which results in the desired reductions on the local node and the network usage. We show that the feedback laws can be overclocked on the local nodes to compensate for the loss of performance due to longer sampling times and shorter horizons. Results are obtained from hardware-in-the-loop simulations with a micro controller and a PC as local and central nodes, respectively, and with a wireless network.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130209008","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550524
Z. Szabó, J. Bokor, S. Hara
A class of large-scale systems with decentralized information structures, such as multi-agent systems, can be represented by a linear system with a generalized frequency variable. In these models agents are modelled through a strictly proper SISO state space model while the supervisory structure, representing the information exchange among the agents, is represented via a linear state-space model. The starting point of the paper is that the agent $h(s)$ and the overall system $mathcal{G}(s)$ are known through their Markov parameters. Based on these data a condition is given that characterizes compatibility, i.e., the existence of a transfer function $G(s)$ that describes the network and leads to the relation $displaystyle mathcal{G}(s)=G left(frac{1}{h(s)} right)$. If compatibility holds, the paper also presents an algorithm to compute the Markov parameters of the unknown transfer function $G(s)$. Then, a minimal state space representation of this transfer function can be computed through the Ho-Kalman algorithm.
{"title":"Realization of homogeneous multi-agent networks","authors":"Z. Szabó, J. Bokor, S. Hara","doi":"10.23919/ECC.2018.8550524","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550524","url":null,"abstract":"A class of large-scale systems with decentralized information structures, such as multi-agent systems, can be represented by a linear system with a generalized frequency variable. In these models agents are modelled through a strictly proper SISO state space model while the supervisory structure, representing the information exchange among the agents, is represented via a linear state-space model. The starting point of the paper is that the agent $h(s)$ and the overall system $mathcal{G}(s)$ are known through their Markov parameters. Based on these data a condition is given that characterizes compatibility, i.e., the existence of a transfer function $G(s)$ that describes the network and leads to the relation $displaystyle mathcal{G}(s)=G left(frac{1}{h(s)} right)$. If compatibility holds, the paper also presents an algorithm to compute the Markov parameters of the unknown transfer function $G(s)$. Then, a minimal state space representation of this transfer function can be computed through the Ho-Kalman algorithm.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130527510","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 : 2018-06-01DOI: 10.23919/ECC.2018.8550307
Arthur G. Richards
A method is proposed to generate paths for an agricultural fixed-wing Unmanned Air Vehicle (UAV) covering an arbitrary polygonal field. The method minimizes time, accounting for the effect of wind on the UAV's ground track. Under the assumption that the path must be a set of parallel lines, covering the field with strips, the method determines the best angle for those strips and the best sequence and directions in which they should be visited. Numerical examples show the dependence of the resulting flight paths on both wind and field geometry.
{"title":"Flight Optimization for an Agricultural Unmanned Air Vehicle","authors":"Arthur G. Richards","doi":"10.23919/ECC.2018.8550307","DOIUrl":"https://doi.org/10.23919/ECC.2018.8550307","url":null,"abstract":"A method is proposed to generate paths for an agricultural fixed-wing Unmanned Air Vehicle (UAV) covering an arbitrary polygonal field. The method minimizes time, accounting for the effect of wind on the UAV's ground track. Under the assumption that the path must be a set of parallel lines, covering the field with strips, the method determines the best angle for those strips and the best sequence and directions in which they should be visited. Numerical examples show the dependence of the resulting flight paths on both wind and field geometry.","PeriodicalId":222660,"journal":{"name":"2018 European Control Conference (ECC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132256689","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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