Pub Date : 2020-07-01DOI: 10.23919/ACC45564.2020.9147622
X. She, Xianke Lin, H. Lang
Unmanned aerial vehicles (UAV) are becoming a widely applied technology in many kinds of industries, such as agriculture and delivery transportation. However, the range of the drone is limited by the amount of energy it has left to consume. Because of this, in order to optimize the flight control, it is important to estimate the instantaneous power of the drone so that the flight controller can determine the best method to increase the operational time as well as effective energy preservation. By being able to predict this power, a drone can use such information to optimize the flight. This paper proposes the use of a neural network-based model for predicting the power consumption of a drone, which offers a prediction that is high in fidelity and adaptability. The proposed method does not require the knowledge of all the drone’s characteristics, such as dynamics, which allows for easier implementation. Experiments are carried out to demonstrate the benefits of the neural network model’s prediction capabilities.
{"title":"A Data-Driven Power Consumption Model for Electric UAVs","authors":"X. She, Xianke Lin, H. Lang","doi":"10.23919/ACC45564.2020.9147622","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147622","url":null,"abstract":"Unmanned aerial vehicles (UAV) are becoming a widely applied technology in many kinds of industries, such as agriculture and delivery transportation. However, the range of the drone is limited by the amount of energy it has left to consume. Because of this, in order to optimize the flight control, it is important to estimate the instantaneous power of the drone so that the flight controller can determine the best method to increase the operational time as well as effective energy preservation. By being able to predict this power, a drone can use such information to optimize the flight. This paper proposes the use of a neural network-based model for predicting the power consumption of a drone, which offers a prediction that is high in fidelity and adaptability. The proposed method does not require the knowledge of all the drone’s characteristics, such as dynamics, which allows for easier implementation. Experiments are carried out to demonstrate the benefits of the neural network model’s prediction capabilities.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124637591","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147726
Kwassi H. Degue, J. L. Ny
Real-time data processing for emerging systems such as intelligent transportation systems requires estimating variables based on privacy-sensitive data gathered from individuals, e.g., their location traces. In this paper, we present a privacy-preserving interval observer architecture for a multiagent system, where a bounded privacy-preserving noise is added to each participant’s data and is subsequently taken into account by the observer. The estimates published by the observer guarantee differential privacy for the agents’ data, which means that their statistical distribution is not too sensitive to certain variations in any single agent’s signal. A numerical simulation illustrates the behavior of the proposed architecture.
{"title":"Differentially Private Interval Observer Design with Bounded Input Perturbation","authors":"Kwassi H. Degue, J. L. Ny","doi":"10.23919/ACC45564.2020.9147726","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147726","url":null,"abstract":"Real-time data processing for emerging systems such as intelligent transportation systems requires estimating variables based on privacy-sensitive data gathered from individuals, e.g., their location traces. In this paper, we present a privacy-preserving interval observer architecture for a multiagent system, where a bounded privacy-preserving noise is added to each participant’s data and is subsequently taken into account by the observer. The estimates published by the observer guarantee differential privacy for the agents’ data, which means that their statistical distribution is not too sensitive to certain variations in any single agent’s signal. A numerical simulation illustrates the behavior of the proposed architecture.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"154 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130370296","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147621
S. Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay A. Atanasov
We present planning and control techniques for non-periodic locomotion tasks specified by temporal logic in rough cluttered terrains. Our planning approach is based on a discrete set of motion primitives for the center of mass (CoM) of a general bipedal robot model. A deterministic shortest path problem is solved over the Büchi automaton of the temporal logic task specification, composed with the graph of CoM keyframe states generated by the motion primitives. A low- level controller based on quadratic programming is proposed to track the resulting CoM and foot trajectories. We demonstrate dynamically stable, non-periodic locomotion of a kneed compass gait bipedal robot satisfying complex task specifications.
{"title":"Temporal Logic Guided Locomotion Planning and Control in Cluttered Environments","authors":"S. Kulgod, Wentao Chen, Junda Huang, Ye Zhao, Nikolay A. Atanasov","doi":"10.23919/ACC45564.2020.9147621","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147621","url":null,"abstract":"We present planning and control techniques for non-periodic locomotion tasks specified by temporal logic in rough cluttered terrains. Our planning approach is based on a discrete set of motion primitives for the center of mass (CoM) of a general bipedal robot model. A deterministic shortest path problem is solved over the Büchi automaton of the temporal logic task specification, composed with the graph of CoM keyframe states generated by the motion primitives. A low- level controller based on quadratic programming is proposed to track the resulting CoM and foot trajectories. We demonstrate dynamically stable, non-periodic locomotion of a kneed compass gait bipedal robot satisfying complex task specifications.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126679045","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147521
Haoyue Gao, M. Maghenem, R. Sanfelice
This paper presents a control algorithm for the full H-bridge inverter that tracks with arbitrary small precision a given desired sinusoidal reference trajectory. The proposed control algorithm is hybrid and predictive in nature. It consists in steering a quadratic Lyapunov function of the tracking errors towards an arbitrarily small value. In this way, the trajectories of the inverter remain sufficiently close to the reference trajectory. This property is guaranteed in the presence of an unknown resistive load through the use of a finite-time estimator. Simulations confirm that the proposed algorithm maintains the frequency of the switches within a reasonable range.
{"title":"Hybrid Predictive Control for Tracking in a Single-Phase DC/AC Inverter with an Unknown Load","authors":"Haoyue Gao, M. Maghenem, R. Sanfelice","doi":"10.23919/ACC45564.2020.9147521","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147521","url":null,"abstract":"This paper presents a control algorithm for the full H-bridge inverter that tracks with arbitrary small precision a given desired sinusoidal reference trajectory. The proposed control algorithm is hybrid and predictive in nature. It consists in steering a quadratic Lyapunov function of the tracking errors towards an arbitrarily small value. In this way, the trajectories of the inverter remain sufficiently close to the reference trajectory. This property is guaranteed in the presence of an unknown resistive load through the use of a finite-time estimator. Simulations confirm that the proposed algorithm maintains the frequency of the switches within a reasonable range.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126806747","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9148005
Adam L. Bruce, A. Goel, D. Bernstein
This paper considers an extension of recursive least squares (RLS), where the cost function is modified to include a matrix forgetting factor. Minimization of the modified cost function provides a framework for combined variable-rate and variable-direction (RLS-VRDF) forgetting. This extension of RLS simultaneously addresses two key issues in standard RLS, namely, the need for variable-rate forgetting due to changing plant parameters as well as the need for variable-direction covariance updating due to the loss of persistency. The performance of RSL-VRDF is illustrated by an example with abrupt parameter changes and loss of persistency.
{"title":"Recursive Least Squares with Matrix Forgetting","authors":"Adam L. Bruce, A. Goel, D. Bernstein","doi":"10.23919/ACC45564.2020.9148005","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9148005","url":null,"abstract":"This paper considers an extension of recursive least squares (RLS), where the cost function is modified to include a matrix forgetting factor. Minimization of the modified cost function provides a framework for combined variable-rate and variable-direction (RLS-VRDF) forgetting. This extension of RLS simultaneously addresses two key issues in standard RLS, namely, the need for variable-rate forgetting due to changing plant parameters as well as the need for variable-direction covariance updating due to the loss of persistency. The performance of RSL-VRDF is illustrated by an example with abrupt parameter changes and loss of persistency.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126819395","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147558
Dongsik Chang, M. Johnson-Roberson, Jing Sun
Mid-water localization is challenging for autonomous underwater vehicles (AUVs) due to limited communications and geo-referencing capabilities in the underwater environment, coupled with unknown complex and dynamic surroundings. Existing solutions typically utilize expensive sensors that may not be available to all AUVs. In this paper, we consider an AUV descending through the water column and propose an approach for mid-water localization using inertial and depth sensors only. During a descent of the vehicle, we leverage spiral motion, which allows for exploitation of vehicle dynamics along with associated inertial sensor measurements for localization. The spiral motion enables us to observe and estimate the influence of environmental flow (e.g., ocean currents) on the vehicle motion, thereby enhancing the understanding of the environment through active perception. The estimated flow together with inertial and depth sensor measurements are integrated in the vehicle motion model for localization. Comparing our approach with conventional dead-reckoning, the simulation results demonstrate its promising potential.
{"title":"An Active Perception Approach for Mid-Water Localization of Autonomous Underwater Vehicles","authors":"Dongsik Chang, M. Johnson-Roberson, Jing Sun","doi":"10.23919/ACC45564.2020.9147558","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147558","url":null,"abstract":"Mid-water localization is challenging for autonomous underwater vehicles (AUVs) due to limited communications and geo-referencing capabilities in the underwater environment, coupled with unknown complex and dynamic surroundings. Existing solutions typically utilize expensive sensors that may not be available to all AUVs. In this paper, we consider an AUV descending through the water column and propose an approach for mid-water localization using inertial and depth sensors only. During a descent of the vehicle, we leverage spiral motion, which allows for exploitation of vehicle dynamics along with associated inertial sensor measurements for localization. The spiral motion enables us to observe and estimate the influence of environmental flow (e.g., ocean currents) on the vehicle motion, thereby enhancing the understanding of the environment through active perception. The estimated flow together with inertial and depth sensor measurements are integrated in the vehicle motion model for localization. Comparing our approach with conventional dead-reckoning, the simulation results demonstrate its promising potential.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129127656","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147451
A. Dwivedi, G. Candler, M. Jovanović
We utilize the frequency response analysis of the linearized Navier-Stokes equations to quantify amplification of exogenous disturbances in a hypersonic flow over a compression ramp. Using the spatial structure of the dominant response to time-periodic inputs, we explain the origin of steady reattachment streaks. Our analysis of the laminar shock/boundary layer interaction reveals that the streaks arise from a preferential amplification of upstream counter-rotating vortical perturbations with a specific span-wise wavelength. These streaks are associated with heat flux striations at the wall near flow reattachment and they can trigger transition to turbulence. The streak wavelength predicted by our analysis compares favorably with observations from two different hypersonic compression ramp experiments. Furthermore, we utilize the dominant response to analyze the physical effects in the linearized dynamical system responsible for amplification of disturbances. We show that flow compressibility that arises from base flow deceleration contributes to the amplification of streamwise velocity and that the baroclinic effects are responsible for the production of streamwise vorticity. Both these effects contribute to the appearance of temperature streaks observed in experiments and are critically important for the development of control-oriented models for transition to turbulence in hypersonic flows.
{"title":"A frequency domain analysis of compressible linearized Navier-Stokes equations in a hypersonic compression ramp flow","authors":"A. Dwivedi, G. Candler, M. Jovanović","doi":"10.23919/ACC45564.2020.9147451","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147451","url":null,"abstract":"We utilize the frequency response analysis of the linearized Navier-Stokes equations to quantify amplification of exogenous disturbances in a hypersonic flow over a compression ramp. Using the spatial structure of the dominant response to time-periodic inputs, we explain the origin of steady reattachment streaks. Our analysis of the laminar shock/boundary layer interaction reveals that the streaks arise from a preferential amplification of upstream counter-rotating vortical perturbations with a specific span-wise wavelength. These streaks are associated with heat flux striations at the wall near flow reattachment and they can trigger transition to turbulence. The streak wavelength predicted by our analysis compares favorably with observations from two different hypersonic compression ramp experiments. Furthermore, we utilize the dominant response to analyze the physical effects in the linearized dynamical system responsible for amplification of disturbances. We show that flow compressibility that arises from base flow deceleration contributes to the amplification of streamwise velocity and that the baroclinic effects are responsible for the production of streamwise vorticity. Both these effects contribute to the appearance of temperature streaks observed in experiments and are critically important for the development of control-oriented models for transition to turbulence in hypersonic flows.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130637437","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147204
Nicholas A. Hawkins, N. Jewell, Moath H. A. Alqatamin, Bhagyashri Bhagwat, M. McIntyre
While major faults in grid-connected PV systems are easily detectable using currently available methods, there are some instances where fault conditions can escape normal detection means. This paper proposes a nonlinear observer to detect these smaller faults using a model-based approach. This observer is validated through a Lyapunov stability analysis and verified by simulation results. The proposed observer is simple to calculate and can be utilized by a system expert to detect the presence of a fault condition.
{"title":"A Nonlinear Fault Detection Scheme for PV Applications","authors":"Nicholas A. Hawkins, N. Jewell, Moath H. A. Alqatamin, Bhagyashri Bhagwat, M. McIntyre","doi":"10.23919/ACC45564.2020.9147204","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147204","url":null,"abstract":"While major faults in grid-connected PV systems are easily detectable using currently available methods, there are some instances where fault conditions can escape normal detection means. This paper proposes a nonlinear observer to detect these smaller faults using a model-based approach. This observer is validated through a Lyapunov stability analysis and verified by simulation results. The proposed observer is simple to calculate and can be utilized by a system expert to detect the presence of a fault condition.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124005113","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147669
Kaitlyn Garifi, K. Baker
Transmission line capacity ratings are often treated as a fixed nominal value; however, these ratings can be temporarily increased to a higher rating that can be leveraged when accounting for uncertainty in the system. In this paper, we introduce a chance constrained optimal power flow model to account for fluctuations in wind power generation with respect to line flow ratings. We propose a two-stage stochastic program where the optimal traditional generator dispatch is determined across wind power fluctuation scenarios. Flexible line flow ratings are incorporated into our model using integer chance constraints which limit the probability of non-nominal line capacity rating violations across all wind scenarios. We present simulation results on the RTS-GMLC test system to demonstrate the effectiveness of considering infrequent line violations on network congestion to reduce the total average wind power curtailment by 15%.
{"title":"Considering Integer Chance Constraints for Enforcing Flexible Line Flow Ratings","authors":"Kaitlyn Garifi, K. Baker","doi":"10.23919/ACC45564.2020.9147669","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147669","url":null,"abstract":"Transmission line capacity ratings are often treated as a fixed nominal value; however, these ratings can be temporarily increased to a higher rating that can be leveraged when accounting for uncertainty in the system. In this paper, we introduce a chance constrained optimal power flow model to account for fluctuations in wind power generation with respect to line flow ratings. We propose a two-stage stochastic program where the optimal traditional generator dispatch is determined across wind power fluctuation scenarios. Flexible line flow ratings are incorporated into our model using integer chance constraints which limit the probability of non-nominal line capacity rating violations across all wind scenarios. We present simulation results on the RTS-GMLC test system to demonstrate the effectiveness of considering infrequent line violations on network congestion to reduce the total average wind power curtailment by 15%.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123633774","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 : 2020-07-01DOI: 10.23919/ACC45564.2020.9147938
Victor Gaßmann, M. Althoff
Set-based computations become increasingly popular for safety-critical systems to ensure properties of controllers and observers. To efficiently compute various set operations, one often uses different set representations and conversions between them. Two popular set representations, for which scalable conversion algorithms do not yet exist, are zonotopes and ellipsoids. We provide computational approaches for all four conversion cases, i.e., overapproximations and underapproximations from zonotopes to ellipsoids and vice versa. By using upper bounds on the maximum and lower bounds on the minimum Euclidean norm of a given zonotope, our approaches have polynomial complexity and thus can be used for high-dimensional spaces. We show that the tightness of our approaches directly depends on the tightness of the Euclidean norm. Numerical experiments demonstrate the usefulness of our proposed methods.
{"title":"Scalable Zonotope-Ellipsoid Conversions using the Euclidean Zonotope Norm","authors":"Victor Gaßmann, M. Althoff","doi":"10.23919/ACC45564.2020.9147938","DOIUrl":"https://doi.org/10.23919/ACC45564.2020.9147938","url":null,"abstract":"Set-based computations become increasingly popular for safety-critical systems to ensure properties of controllers and observers. To efficiently compute various set operations, one often uses different set representations and conversions between them. Two popular set representations, for which scalable conversion algorithms do not yet exist, are zonotopes and ellipsoids. We provide computational approaches for all four conversion cases, i.e., overapproximations and underapproximations from zonotopes to ellipsoids and vice versa. By using upper bounds on the maximum and lower bounds on the minimum Euclidean norm of a given zonotope, our approaches have polynomial complexity and thus can be used for high-dimensional spaces. We show that the tightness of our approaches directly depends on the tightness of the Euclidean norm. Numerical experiments demonstrate the usefulness of our proposed methods.","PeriodicalId":288450,"journal":{"name":"2020 American Control Conference (ACC)","volume":"44 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116505388","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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