Pub Date : 2021-12-14DOI: 10.1109/CDC45484.2021.9683639
K. Zimenko, D. Efimov, A. Polyakov, A. Kremlev
The paper provides a sufficient condition to en-sure robust finite-time stability of homogeneous generalized Persidskii systems. The proposed condition is formulated using linear matrix inequalities and it allows to obtain settling time estimates. The results are supported with numerical examples.
{"title":"On finite-time stability analysis of homogeneous Persidskii systems using LMIs*","authors":"K. Zimenko, D. Efimov, A. Polyakov, A. Kremlev","doi":"10.1109/CDC45484.2021.9683639","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683639","url":null,"abstract":"The paper provides a sufficient condition to en-sure robust finite-time stability of homogeneous generalized Persidskii systems. The proposed condition is formulated using linear matrix inequalities and it allows to obtain settling time estimates. The results are supported with numerical examples.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132051382","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683789
Xile Kang, H. Ishii
This paper focuses on networked control systems with parameter uncertainties in system models under Denial-of-Services (DoS) attacks. The objective is to find the coarsest quantizer for a given quadratic Lyapunov function and still maintain stability while the network for transmitting quantized control signals is disrupted by a class of DoS attacks. Our main result shows that the coarsest quantization can be analytically obtained in the form of logarithmic quantizers whose coarseness is constrained by the unstable system poles and the level of DoS attacks. This result explicitly shows that under more frequent DoS attacks, finer quantization is required to achieve stability. Furthermore, we provide a switching control method for increasing the coarseness while the system operates without much influence of attacks.
{"title":"Resilient Control of Uncertain Networked Systems under DoS Attacks","authors":"Xile Kang, H. Ishii","doi":"10.1109/CDC45484.2021.9683789","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683789","url":null,"abstract":"This paper focuses on networked control systems with parameter uncertainties in system models under Denial-of-Services (DoS) attacks. The objective is to find the coarsest quantizer for a given quadratic Lyapunov function and still maintain stability while the network for transmitting quantized control signals is disrupted by a class of DoS attacks. Our main result shows that the coarsest quantization can be analytically obtained in the form of logarithmic quantizers whose coarseness is constrained by the unstable system poles and the level of DoS attacks. This result explicitly shows that under more frequent DoS attacks, finer quantization is required to achieve stability. Furthermore, we provide a switching control method for increasing the coarseness while the system operates without much influence of attacks.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"56 19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130889663","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9682871
C. Kitsos, M. Bajodek, Lucie Baudouin
The problem of estimation of the unknown potential in a 1-dimensional wave equation via state observers is considered in this work. The potential is supposed to depend on the space variable only and be polynomial. The main observation information is the value of the solution of the wave equation in a subinterval of the domain, including also some of its higher-order spatial derivatives. The method we propose to estimate the potential includes turning it into a new state as in finite-dimensional parameter estimation approaches. However, in this infinite dimensions setting, this requires an indirect approach that is introduced, including an infinite-dimensional state transformation. Sufficient conditions allow the design of an internal semilinear observer for the resulting cascade system, corresponding to the observed subinterval, which estimates the potential in an exponentially fast manner.
{"title":"Estimation of the potential in a 1D wave equation via exponential observers","authors":"C. Kitsos, M. Bajodek, Lucie Baudouin","doi":"10.1109/CDC45484.2021.9682871","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9682871","url":null,"abstract":"The problem of estimation of the unknown potential in a 1-dimensional wave equation via state observers is considered in this work. The potential is supposed to depend on the space variable only and be polynomial. The main observation information is the value of the solution of the wave equation in a subinterval of the domain, including also some of its higher-order spatial derivatives. The method we propose to estimate the potential includes turning it into a new state as in finite-dimensional parameter estimation approaches. However, in this infinite dimensions setting, this requires an indirect approach that is introduced, including an infinite-dimensional state transformation. Sufficient conditions allow the design of an internal semilinear observer for the resulting cascade system, corresponding to the observed subinterval, which estimates the potential in an exponentially fast manner.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"178 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131607617","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683181
Liwei Yuan, H. Ishii
In this paper, we study the problem of resilient consensus for a multi-agent network where some of the nodes might be adversarial, attempting to prevent consensus by transmitting faulty values. Our approach is based on that of the so-called weighted mean subsequence reduced (W-MSR) algorithm with a special emphasis on its use in agents capable to communicate with multi-hop neighbors. The MSR algorithm is a powerful tool for achieving resilient consensus under minimal requirements for network structures, characterized by the class of robust graphs. Our analysis highlights that through multi-hop communication, the network connectivity can be reduced especially in comparison with the common one-hop communication case. Moreover, numerical examples are given to show the effectiveness of the proposed algorithm.
{"title":"Resilient Consensus with Multi-hop Communication","authors":"Liwei Yuan, H. Ishii","doi":"10.1109/CDC45484.2021.9683181","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683181","url":null,"abstract":"In this paper, we study the problem of resilient consensus for a multi-agent network where some of the nodes might be adversarial, attempting to prevent consensus by transmitting faulty values. Our approach is based on that of the so-called weighted mean subsequence reduced (W-MSR) algorithm with a special emphasis on its use in agents capable to communicate with multi-hop neighbors. The MSR algorithm is a powerful tool for achieving resilient consensus under minimal requirements for network structures, characterized by the class of robust graphs. Our analysis highlights that through multi-hop communication, the network connectivity can be reduced especially in comparison with the common one-hop communication case. Moreover, numerical examples are given to show the effectiveness of the proposed algorithm.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129185766","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683004
V. Solo, S. A. Pasha
Network system identification of node to node dynamics requires a study of information flows between nodes. Such flows can be measured by trajectory mutual information. But since the interaction between any pair of nodes is affected by other nodes one needs to adjust for those other nodes. Here, for the first time, we develop such a partial measure of trajectory mutual information between point processes and illustrate its use in simulation and on real data.
{"title":"Partial Trajectory Mutual Information Flow in a Small Point Process Network","authors":"V. Solo, S. A. Pasha","doi":"10.1109/CDC45484.2021.9683004","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683004","url":null,"abstract":"Network system identification of node to node dynamics requires a study of information flows between nodes. Such flows can be measured by trajectory mutual information. But since the interaction between any pair of nodes is affected by other nodes one needs to adjust for those other nodes. Here, for the first time, we develop such a partial measure of trajectory mutual information between point processes and illustrate its use in simulation and on real data.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128786028","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683082
Damien Guého, P. Singla, M. Majji
This paper introduces the concept of time-varying Koopman operator to predict the flow of a nonlinear dynamical system. The Koopman operator provides a linear prediction model for nonlinear systems in a lifted space of infinite dimension. An extension of time-invariant subspace realization methods known as the time-varying Eigensystem Realization Algorithm (TVERA) in conjunction with the time-varying Observer Kalman Identification Algorithm (TVOKID) are used to derive a finite dimensional approximation of the infinite dimensional Koopman operator at each time step. An isomorphic coordinate transformations is defined to convert different system realizations from different sets of experiments into a common frame for state propagation and to extract dynamical features in the lifted space defined by the eigenvalues of the Koopman operator. Two benchmark numerical examples are considered to demonstrate the capability of the proposed approach.
{"title":"Time-Varying Koopman Operator Theory for Nonlinear Systems Prediction","authors":"Damien Guého, P. Singla, M. Majji","doi":"10.1109/CDC45484.2021.9683082","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683082","url":null,"abstract":"This paper introduces the concept of time-varying Koopman operator to predict the flow of a nonlinear dynamical system. The Koopman operator provides a linear prediction model for nonlinear systems in a lifted space of infinite dimension. An extension of time-invariant subspace realization methods known as the time-varying Eigensystem Realization Algorithm (TVERA) in conjunction with the time-varying Observer Kalman Identification Algorithm (TVOKID) are used to derive a finite dimensional approximation of the infinite dimensional Koopman operator at each time step. An isomorphic coordinate transformations is defined to convert different system realizations from different sets of experiments into a common frame for state propagation and to extract dynamical features in the lifted space defined by the eigenvalues of the Koopman operator. Two benchmark numerical examples are considered to demonstrate the capability of the proposed approach.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"607 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123263523","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683208
Ji Wang, M. Krstić
We present an event-triggered state-feedback boundary control scheme with a, likewise, event-triggered batch least-squares parameter identification for a 2×2 hyperbolic PDE-ODE system, where two coefficients of the in-domain couplings between two transport PDEs, and the system parameter of a scalar ODE are unknown. The triggering condition is designed based on evaluating both the actuation deviation caused by the difference between the plant states and their sampled values, and the growth of the plant norm. When either condition is met, the piecewise-constant control input and parameter estimates are updated simultaneously. In the closed-loop system, the following results are obtained: 1) the absence of a Zeno phenomenon; 2) finite-time exact identification of the unknown parameters from all but a measure zero set of initial conditions; 3) exponential regulation of the plant states to zero. In the numerical simulation, the design is verified in an application of axial vibration control of a mining cable elevator, where the damping coefficients of the cable and the cage are unknown.
{"title":"Adaptive Control of Coupled Hyperbolic PDEs with Piecewise-Constant Inputs and Identification","authors":"Ji Wang, M. Krstić","doi":"10.1109/CDC45484.2021.9683208","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683208","url":null,"abstract":"We present an event-triggered state-feedback boundary control scheme with a, likewise, event-triggered batch least-squares parameter identification for a 2×2 hyperbolic PDE-ODE system, where two coefficients of the in-domain couplings between two transport PDEs, and the system parameter of a scalar ODE are unknown. The triggering condition is designed based on evaluating both the actuation deviation caused by the difference between the plant states and their sampled values, and the growth of the plant norm. When either condition is met, the piecewise-constant control input and parameter estimates are updated simultaneously. In the closed-loop system, the following results are obtained: 1) the absence of a Zeno phenomenon; 2) finite-time exact identification of the unknown parameters from all but a measure zero set of initial conditions; 3) exponential regulation of the plant states to zero. In the numerical simulation, the design is verified in an application of axial vibration control of a mining cable elevator, where the damping coefficients of the cable and the cage are unknown.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126368245","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683620
Michael Schwung, J. Lunze
This paper extends an event-based method for the cooperative control of two mobile objects to cope with unknown signal delays induced by the communication network and the computation times of the controllers. The objects are locally controlled and move autonomously along their planned trajectories. The first object called the stand-on object can freely change its trajectory at any time. The second object named the give-way object has to adapt its trajectory to avoid collisions by invoking communication at event time instants. It is provided with an event-based control unit introduced in a previous paper. Whereas the signal delays were neglected in earlier publications, in this paper these delays are considered and the event generation is improved accordingly. An event-based delay estimator generates an estimate of the signal delays, which is utilised for the event generation by using a two-state Markov model that represents the properties of the network. The event-based approach is derived by combining methods from communication technology and control theory. A simulation study with two quadrotors shows the benefits of the method.
{"title":"Event-Based Control of Mobile Objects over an Unreliable Network","authors":"Michael Schwung, J. Lunze","doi":"10.1109/CDC45484.2021.9683620","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683620","url":null,"abstract":"This paper extends an event-based method for the cooperative control of two mobile objects to cope with unknown signal delays induced by the communication network and the computation times of the controllers. The objects are locally controlled and move autonomously along their planned trajectories. The first object called the stand-on object can freely change its trajectory at any time. The second object named the give-way object has to adapt its trajectory to avoid collisions by invoking communication at event time instants. It is provided with an event-based control unit introduced in a previous paper. Whereas the signal delays were neglected in earlier publications, in this paper these delays are considered and the event generation is improved accordingly. An event-based delay estimator generates an estimate of the signal delays, which is utilised for the event generation by using a two-state Markov model that represents the properties of the network. The event-based approach is derived by combining methods from communication technology and control theory. A simulation study with two quadrotors shows the benefits of the method.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126443155","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9682981
A. Hakobyan, Insoon Yang
This paper is concerned with designing a risk-aware controller in an unknown and dynamic environment. In our method, the evolution of the environment state is learned using observational data via Gaussian process regression (GPR). Unfortunately, these learning results provide imperfect distribution information about the environment. To address such distribution errors, we propose a risk-constrained model predictive control (MPC) method that exploits techniques from modern distributionally robust optimization (DRO). To resolve the infinite dimensionality issue inherent in DRO, we derive a tractable semidefinite programming (SDP) problem that upper-bounds the original MPC problem. Furthermore, the SDP problem is reduced to a quadratic program when the constraint function has a decomposable form. The performance and the utility of our method are demonstrated through an autonomous driving problem, and the results show that our controller preserves safety despite errors in learning the behaviors of surrounding vehicles.
{"title":"Toward Improving the Distributional Robustness of Risk-Aware Controllers in Learning-Enabled Environments","authors":"A. Hakobyan, Insoon Yang","doi":"10.1109/CDC45484.2021.9682981","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9682981","url":null,"abstract":"This paper is concerned with designing a risk-aware controller in an unknown and dynamic environment. In our method, the evolution of the environment state is learned using observational data via Gaussian process regression (GPR). Unfortunately, these learning results provide imperfect distribution information about the environment. To address such distribution errors, we propose a risk-constrained model predictive control (MPC) method that exploits techniques from modern distributionally robust optimization (DRO). To resolve the infinite dimensionality issue inherent in DRO, we derive a tractable semidefinite programming (SDP) problem that upper-bounds the original MPC problem. Furthermore, the SDP problem is reduced to a quadratic program when the constraint function has a decomposable form. The performance and the utility of our method are demonstrated through an autonomous driving problem, and the results show that our controller preserves safety despite errors in learning the behaviors of surrounding vehicles.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126462497","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 : 2021-12-14DOI: 10.1109/CDC45484.2021.9683568
M. Mera, F. Bejarano
An observer, based on the well-known structural conditions of state and mode observability for switched linear systems, using a high-order sliding-mode (HOSM) differentiator, is proposed to recover both the active mode and the continuous state in Finite-time. The estimation of both the mode and the state is ensured, under some mild additional conditions, even for the case when the measurable output is affected by perturbations. Moreover, a continuous state observer for the case when the mode is unobservable, or the mode estimation is negligible, is presented considering some more relaxed structural conditions ensuring the continuous state estimation disregarding the mode.
{"title":"Robust Observer Design for Linear Switched Systems Based on Structural Observability Conditions","authors":"M. Mera, F. Bejarano","doi":"10.1109/CDC45484.2021.9683568","DOIUrl":"https://doi.org/10.1109/CDC45484.2021.9683568","url":null,"abstract":"An observer, based on the well-known structural conditions of state and mode observability for switched linear systems, using a high-order sliding-mode (HOSM) differentiator, is proposed to recover both the active mode and the continuous state in Finite-time. The estimation of both the mode and the state is ensured, under some mild additional conditions, even for the case when the measurable output is affected by perturbations. Moreover, a continuous state observer for the case when the mode is unobservable, or the mode estimation is negligible, is presented considering some more relaxed structural conditions ensuring the continuous state estimation disregarding the mode.","PeriodicalId":229089,"journal":{"name":"2021 60th IEEE Conference on Decision and Control (CDC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-12-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122199434","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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