Pub Date : 2022-06-08DOI: 10.23919/ACC53348.2022.9867606
Yunhai Han, Nathan Boyd, Xinpei Ni, Ye Zhao
Legged robots have recently emerged as a viable option for solving locomotion and manipulation problems over unstructured terrains [1] . Traversing over terrain obstacles while still being able to execute manipulation tasks, such as opening doors, is essential to solve the problems that are encountered by other robotic collaborators. For this experimental demo, we are showcasing stable bipedal locomotion and manipulation with the Digit humanoid robot to collaborate with a drone robot. Drones are exceptional at visual inspection tasks, but lack the ability to manipulate their environment. The demonstrated capabilities showcase a holistic framework that enables team of robots to assist each other in resolving environment conflicts.
{"title":"Multi-Robot Collaboration with Heterogeneous Capabilities","authors":"Yunhai Han, Nathan Boyd, Xinpei Ni, Ye Zhao","doi":"10.23919/ACC53348.2022.9867606","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867606","url":null,"abstract":"Legged robots have recently emerged as a viable option for solving locomotion and manipulation problems over unstructured terrains [1] . Traversing over terrain obstacles while still being able to execute manipulation tasks, such as opening doors, is essential to solve the problems that are encountered by other robotic collaborators. For this experimental demo, we are showcasing stable bipedal locomotion and manipulation with the Digit humanoid robot to collaborate with a drone robot. Drones are exceptional at visual inspection tasks, but lack the ability to manipulate their environment. The demonstrated capabilities showcase a holistic framework that enables team of robots to assist each other in resolving environment conflicts.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125409579","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867155
Sunny Amatya, Mukesh Ghimire, Yi Ren, Zheng Xu, Wenlong Zhang
This paper addresses incomplete-information dynamic games, where reward parameters of agents are private. Previous studies have shown that online belief update is necessary for deriving equilibrial policies of such games, especially for high-risk games such as vehicle interactions. However, updating beliefs in real time is computationally expensive as it requires continuous computation of Nash equilibria of the sub-games starting from the current states. In this paper, we consider the triggering mechanism of belief update as a policy defined on the agents’ physical and belief states, and propose learning this policy through reinforcement learning (RL). Using a two-vehicle uncontrolled intersection case, we show that intermittent belief update via RL is sufficient for safe interactions, reducing the computation cost of updates by 59% when agents have full observations of physical states. Simulation results also show that the belief update frequency will increase as noise becomes more significant in measurements of the vehicle positions.
{"title":"When Shall I Estimate Your Intent? Costs and Benefits of Intent Inference in Multi-Agent Interactions","authors":"Sunny Amatya, Mukesh Ghimire, Yi Ren, Zheng Xu, Wenlong Zhang","doi":"10.23919/ACC53348.2022.9867155","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867155","url":null,"abstract":"This paper addresses incomplete-information dynamic games, where reward parameters of agents are private. Previous studies have shown that online belief update is necessary for deriving equilibrial policies of such games, especially for high-risk games such as vehicle interactions. However, updating beliefs in real time is computationally expensive as it requires continuous computation of Nash equilibria of the sub-games starting from the current states. In this paper, we consider the triggering mechanism of belief update as a policy defined on the agents’ physical and belief states, and propose learning this policy through reinforcement learning (RL). Using a two-vehicle uncontrolled intersection case, we show that intermittent belief update via RL is sufficient for safe interactions, reducing the computation cost of updates by 59% when agents have full observations of physical states. Simulation results also show that the belief update frequency will increase as noise becomes more significant in measurements of the vehicle positions.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"101 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123160499","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867210
Mohammad Pirani, Yining She, Renzhi Tang, Zhihao Jiang, Y. Pant
A necessary prerequisite for the safe interaction of autonomous systems with a human-driven vehicle is for the overall closed-loop system (autonomous systems plus human-driven vehicle) to be stable. This paper studies the safe and stable interaction between a platoon of autonomous vehicles and a set of human-driven vehicles. Considering the longitudinal motion of the vehicles in the platoon, the problem is to ensure a safe emergency braking by the autonomous platoon considering the actions of human-driven vehicles, which may vary based on the driver type. We consider two types of platoon topologies, namely unidirectional and bidirectional. Safe emergency braking is characterized by a specific type of platoon stability, called head-to-tail stability (HTS). We present system-theoretic necessary and sufficient conditions for the combination of the autonomous platoon and human-driven vehicles to be HTS for two platoon control laws, namely the velocity tracking and the platoon formation. Modeling the input-output behavior of each vehicle via a transfer function, the HTS conditions restrict the human-driven vehicles’ transfer functions to have H∞ norms below certain thresholds. A safe interaction algorithm first identifies the transfer functions of the human-driven vehicles. Then, it tunes the platoon control gains such that the overall system meets HTS conditions. Theoretical results are validated with both experimental data with human subject studies and simulation studies.
{"title":"Stable Interaction of Autonomous Vehicle Platoons with Human-Driven Vehicles","authors":"Mohammad Pirani, Yining She, Renzhi Tang, Zhihao Jiang, Y. Pant","doi":"10.23919/ACC53348.2022.9867210","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867210","url":null,"abstract":"A necessary prerequisite for the safe interaction of autonomous systems with a human-driven vehicle is for the overall closed-loop system (autonomous systems plus human-driven vehicle) to be stable. This paper studies the safe and stable interaction between a platoon of autonomous vehicles and a set of human-driven vehicles. Considering the longitudinal motion of the vehicles in the platoon, the problem is to ensure a safe emergency braking by the autonomous platoon considering the actions of human-driven vehicles, which may vary based on the driver type. We consider two types of platoon topologies, namely unidirectional and bidirectional. Safe emergency braking is characterized by a specific type of platoon stability, called head-to-tail stability (HTS). We present system-theoretic necessary and sufficient conditions for the combination of the autonomous platoon and human-driven vehicles to be HTS for two platoon control laws, namely the velocity tracking and the platoon formation. Modeling the input-output behavior of each vehicle via a transfer function, the HTS conditions restrict the human-driven vehicles’ transfer functions to have H∞ norms below certain thresholds. A safe interaction algorithm first identifies the transfer functions of the human-driven vehicles. Then, it tunes the platoon control gains such that the overall system meets HTS conditions. Theoretical results are validated with both experimental data with human subject studies and simulation studies.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123338830","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867436
Tania Camelia Touati, Yasmine Marani, Messaoud Chakir, T. Laleg‐Kirati
As the need for freshwater is continuously growing, seawater desalination technologies are increasingly used to meet these demands. The high solutes’ rejection factor and the low energy consumption of Membrane Distillation (MD) technologies make them high potential desalination techniques. However, they suffer from membrane fouling which deteriorates the system’s performance and causes high maintenance costs. This paper presents a novel approach based on a learning observer for detecting and localizing fouling in Direct Contact Membrane Distillation (DCMD) systems which allows to significantly decrease the maintenance costs. This approach has the advantage of being flexible and computationally inexpensive. Before the architecture and the design steps of the proposed observer are presented, the DCMD module layout in the fault free scheme and in presence of fouling is explained. To illustrate the effectiveness of the proposed fouling monitoring approach, several tests were simulated and two scenarios were considered: homogeneous and non-homogeneous fouling evolution along the membrane. The various simulations demonstrated very encouraging results in both fouling estimation and localization.
{"title":"A learning observer approach for fouling detection and localization in direct contact membrane distillation systems","authors":"Tania Camelia Touati, Yasmine Marani, Messaoud Chakir, T. Laleg‐Kirati","doi":"10.23919/ACC53348.2022.9867436","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867436","url":null,"abstract":"As the need for freshwater is continuously growing, seawater desalination technologies are increasingly used to meet these demands. The high solutes’ rejection factor and the low energy consumption of Membrane Distillation (MD) technologies make them high potential desalination techniques. However, they suffer from membrane fouling which deteriorates the system’s performance and causes high maintenance costs. This paper presents a novel approach based on a learning observer for detecting and localizing fouling in Direct Contact Membrane Distillation (DCMD) systems which allows to significantly decrease the maintenance costs. This approach has the advantage of being flexible and computationally inexpensive. Before the architecture and the design steps of the proposed observer are presented, the DCMD module layout in the fault free scheme and in presence of fouling is explained. To illustrate the effectiveness of the proposed fouling monitoring approach, several tests were simulated and two scenarios were considered: homogeneous and non-homogeneous fouling evolution along the membrane. The various simulations demonstrated very encouraging results in both fouling estimation and localization.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126409456","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867660
Jie Cai, Zhiming Jiang
This paper presents a distributed control strategy of building thermal loads to enable voltage regulation of distribution networks with high photovoltaic (PV) penetration. A model predictive control approach is adopted that relies on linearized power flow and building thermal models to capture the relationship between residential loads, PV generation and feeder voltage. A primal-dual algorithm with Tikhonov regularization is proposed to solve the control problem in a distributed manner across different households. Performance of the strategy was demonstrated through a simulation study of an IEEE 33-bus test distribution network serving a prototype residential community. The strategy was proved to be effective in regulating feeder voltage within prescribed limits with additional benefits of line loss reduction; the opportunity cost for voltage regulation was found to be less than 1% for the cases study.
{"title":"Primal-Dual Distributed Control of Residential Thermal Loads for Voltage Regulation of Distribution Systems with High PV Penetration","authors":"Jie Cai, Zhiming Jiang","doi":"10.23919/ACC53348.2022.9867660","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867660","url":null,"abstract":"This paper presents a distributed control strategy of building thermal loads to enable voltage regulation of distribution networks with high photovoltaic (PV) penetration. A model predictive control approach is adopted that relies on linearized power flow and building thermal models to capture the relationship between residential loads, PV generation and feeder voltage. A primal-dual algorithm with Tikhonov regularization is proposed to solve the control problem in a distributed manner across different households. Performance of the strategy was demonstrated through a simulation study of an IEEE 33-bus test distribution network serving a prototype residential community. The strategy was proved to be effective in regulating feeder voltage within prescribed limits with additional benefits of line loss reduction; the opportunity cost for voltage regulation was found to be less than 1% for the cases study.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"PP 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126441047","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867459
Yuan Zhang, Yuanqing Xia, Yufeng Zhan
In this paper, we consider three related cost-sparsity induced optimal input selection problems for structural controllability using a unifying linear programming (LP) framework. More precisely, given an autonomous system and a constrained input configuration where whether an input can directly actuate a state variable, as well as the corresponding (possibly different) cost, is prescribed, the problems are, respectively, selecting the minimum number of input links, selecting the minimum cost of input links, and selecting the input links with the cost as small as possible while their cardinality is not exceeding a prescribed number, all to ensure structural controllability of the resulting systems. Current studies show that in the dedicated input case (i.e., each input can actuate only a state variable), the first and second problems are polynomially solvable by some graphtheoretic algorithms, while the general nontrivial constrained case is largely unexploited. In this paper, we formulate these problems as equivalent integer linear programming (ILP) problems. Under a weaker constraint on the prescribed input configurations than most of the currently known ones with which the first two problems are reportedly polynomially solvable, we show these ILPs can be solved by simply removing the integer constraints and solving the corresponding LP relaxations, thus providing a unifying algebraic method, rather than graph-theoretic, for these problems with polynomial time complexity. The key to our approach is the observation that the respective constraint matrices of the ILPs are totally unimodular.
{"title":"A Linear Programming Approach to the Minimum Cost Sparsest Input Selection for Structured Systems","authors":"Yuan Zhang, Yuanqing Xia, Yufeng Zhan","doi":"10.23919/ACC53348.2022.9867459","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867459","url":null,"abstract":"In this paper, we consider three related cost-sparsity induced optimal input selection problems for structural controllability using a unifying linear programming (LP) framework. More precisely, given an autonomous system and a constrained input configuration where whether an input can directly actuate a state variable, as well as the corresponding (possibly different) cost, is prescribed, the problems are, respectively, selecting the minimum number of input links, selecting the minimum cost of input links, and selecting the input links with the cost as small as possible while their cardinality is not exceeding a prescribed number, all to ensure structural controllability of the resulting systems. Current studies show that in the dedicated input case (i.e., each input can actuate only a state variable), the first and second problems are polynomially solvable by some graphtheoretic algorithms, while the general nontrivial constrained case is largely unexploited. In this paper, we formulate these problems as equivalent integer linear programming (ILP) problems. Under a weaker constraint on the prescribed input configurations than most of the currently known ones with which the first two problems are reportedly polynomially solvable, we show these ILPs can be solved by simply removing the integer constraints and solving the corresponding LP relaxations, thus providing a unifying algebraic method, rather than graph-theoretic, for these problems with polynomial time complexity. The key to our approach is the observation that the respective constraint matrices of the ILPs are totally unimodular.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126512890","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867400
Pengfei Wang, R. Katz, E. Fridman
Recently, a constructive method for the finite-dimensional observer-based control of deterministic parabolic PDEs has been suggested by employing a modal decomposition approach. In the present paper, we aim to extend this method to the stochastic parabolic PDEs with nonlinear multiplicative noise. We consider the Neumann actuation and boundary measurement via dynamic extension. The controller dimension is defined by N0 unstable modes, whereas the observer may have a larger dimension N. We provide mean-square L2 stability analysis of the full-order closed-loop system leading to linear matrix inequality (LMI) conditions for finding N. We prove that the LMIs are always feasible for small enough noise intensity and large enough N. A numerical example demonstrates the efficiency of our method.
{"title":"Constructive finite-dimensional observer-based boundary control of stochastic parabolic PDEs","authors":"Pengfei Wang, R. Katz, E. Fridman","doi":"10.23919/ACC53348.2022.9867400","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867400","url":null,"abstract":"Recently, a constructive method for the finite-dimensional observer-based control of deterministic parabolic PDEs has been suggested by employing a modal decomposition approach. In the present paper, we aim to extend this method to the stochastic parabolic PDEs with nonlinear multiplicative noise. We consider the Neumann actuation and boundary measurement via dynamic extension. The controller dimension is defined by N0 unstable modes, whereas the observer may have a larger dimension N. We provide mean-square L2 stability analysis of the full-order closed-loop system leading to linear matrix inequality (LMI) conditions for finding N. We prove that the LMIs are always feasible for small enough noise intensity and large enough N. A numerical example demonstrates the efficiency of our method.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126513724","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867251
S. Rath, A. Maheshwari, S. Awtar
This paper investigates the distribution of zeros with respect to the poles on the imaginary and real axes of the s-plane in the transfer function of a multi-DoF undamped flexible LTI system. The transfer function of a multi-DoF undamped flexible LTI system can be modally decomposed i.e. expressed as the sum of second order modes where each mode is characterized by two system parameters – modal residue and modal frequency. It is well known that when all the modal residue signs are the same, all the zeros of the multi-DoF undamped flexible LTI system are minimum phase (MP). However, the same sign for all modal residues is a sufficient condition for the elimination of non-minimum phase (NMP) zeros and not a necessary one. In order to find sufficient conditions for the elimination of NMP zeros when all modal residue signs are not the same, specific results are needed that explain the distribution of zeros with respect to the poles in the s-plane. Therefore, in this paper results are provided that elucidate the distribution of zeros with respect to the poles on the real and imaginary axes of the s-plane for any combination of modal residue signs. The real and imaginary axes are divided into four segments based on the location of the poles and the parity of the number of zeros (i.e. even or odd) in each segment is derived as a function of the system parameters. The results in this paper provide the necessary and sufficient condition for the occurrence of pole-zero flipping on the imaginary axis which is known to be detrimental to the closed-loop dynamic performance of undamped flexible LTI systems. The results from this paper will also enable the derivation of a sufficient condition for the elimination of NMP zeros in multi-DoF undamped flexible LTI systems.
{"title":"Distribution of Real and Imaginary Zeros of Multi-DoF Undamped Flexible Systems","authors":"S. Rath, A. Maheshwari, S. Awtar","doi":"10.23919/ACC53348.2022.9867251","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867251","url":null,"abstract":"This paper investigates the distribution of zeros with respect to the poles on the imaginary and real axes of the s-plane in the transfer function of a multi-DoF undamped flexible LTI system. The transfer function of a multi-DoF undamped flexible LTI system can be modally decomposed i.e. expressed as the sum of second order modes where each mode is characterized by two system parameters – modal residue and modal frequency. It is well known that when all the modal residue signs are the same, all the zeros of the multi-DoF undamped flexible LTI system are minimum phase (MP). However, the same sign for all modal residues is a sufficient condition for the elimination of non-minimum phase (NMP) zeros and not a necessary one. In order to find sufficient conditions for the elimination of NMP zeros when all modal residue signs are not the same, specific results are needed that explain the distribution of zeros with respect to the poles in the s-plane. Therefore, in this paper results are provided that elucidate the distribution of zeros with respect to the poles on the real and imaginary axes of the s-plane for any combination of modal residue signs. The real and imaginary axes are divided into four segments based on the location of the poles and the parity of the number of zeros (i.e. even or odd) in each segment is derived as a function of the system parameters. The results in this paper provide the necessary and sufficient condition for the occurrence of pole-zero flipping on the imaginary axis which is known to be detrimental to the closed-loop dynamic performance of undamped flexible LTI systems. The results from this paper will also enable the derivation of a sufficient condition for the elimination of NMP zeros in multi-DoF undamped flexible LTI systems.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"281 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122947118","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867287
Rejitha Raveendran, A. Mahindrakar, U. Vaidya
A time-varying (TV) optimization problem arises in many real-time applications, where the objective function or constraints change continuously with time. Consequently, the optimal points of the problem at each time instant form an optimal trajectory and hence tracking the optimal trajectory calls for the need to solve the TV optimization problem. A second-order continuous-time gradient-flow approach is proposed in this paper to track the optimal trajectory of TV convex optimization problems in fixed-time irrespective of the initial conditions. Later on we present a second-order nonsmooth dynamical system to solve the TV convex optimization problem in fixed time that does not require the exact information about the time rate of change of the cost function gradient. It makes the non-smooth dynamical system robust to the temporal variation in the gradient of the cost function. Two numerical examples are considered here for the simulation-based validation of the proposed approaches.
{"title":"Fixed-Time Dynamical System Approach for Solving Time-Varying Convex Optimization Problems","authors":"Rejitha Raveendran, A. Mahindrakar, U. Vaidya","doi":"10.23919/ACC53348.2022.9867287","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867287","url":null,"abstract":"A time-varying (TV) optimization problem arises in many real-time applications, where the objective function or constraints change continuously with time. Consequently, the optimal points of the problem at each time instant form an optimal trajectory and hence tracking the optimal trajectory calls for the need to solve the TV optimization problem. A second-order continuous-time gradient-flow approach is proposed in this paper to track the optimal trajectory of TV convex optimization problems in fixed-time irrespective of the initial conditions. Later on we present a second-order nonsmooth dynamical system to solve the TV convex optimization problem in fixed time that does not require the exact information about the time rate of change of the cost function gradient. It makes the non-smooth dynamical system robust to the temporal variation in the gradient of the cost function. Two numerical examples are considered here for the simulation-based validation of the proposed approaches.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"515 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123073681","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 : 2022-06-08DOI: 10.23919/ACC53348.2022.9867897
Jingting Zhang, P. Stegagno, Weizhen Zeng, C. Yuan
This paper is focused on the output tracking control problem of a wave equation with both matched and unmatched boundary uncertainties. An adaptive boundary feedback control scheme is proposed by utilizing radial basis function neural networks (RBF NNs) to deal with the effect of system uncertainties. Specifically, two RBF NN models are first developed to approximate the matched and unmatched system uncertain dynamics respectively. Based on this, an adaptive NN control scheme is derived, which consists of: (i) an adaptive boundary feedback controller embedded by the NN model approximating the matched uncertainty, for rendering stable and accurate tracking control; and (ii) a reference model embedded by the NN model approximating the unmatched uncertainty, for generating a prescribed reference trajectory. Rigorous analysis is performed using the Lyapunov theory and the C0-semigroup theory to prove that our proposed control scheme can guarantee closed-loop stability and well-posedness. Simulation study has been conducted to demonstrate effectiveness of the proposed approach.
{"title":"Adaptive NN-Based Boundary Control for Output Tracking of A Wave Equation with Matched and Unmatched Boundary Uncertainties","authors":"Jingting Zhang, P. Stegagno, Weizhen Zeng, C. Yuan","doi":"10.23919/ACC53348.2022.9867897","DOIUrl":"https://doi.org/10.23919/ACC53348.2022.9867897","url":null,"abstract":"This paper is focused on the output tracking control problem of a wave equation with both matched and unmatched boundary uncertainties. An adaptive boundary feedback control scheme is proposed by utilizing radial basis function neural networks (RBF NNs) to deal with the effect of system uncertainties. Specifically, two RBF NN models are first developed to approximate the matched and unmatched system uncertain dynamics respectively. Based on this, an adaptive NN control scheme is derived, which consists of: (i) an adaptive boundary feedback controller embedded by the NN model approximating the matched uncertainty, for rendering stable and accurate tracking control; and (ii) a reference model embedded by the NN model approximating the unmatched uncertainty, for generating a prescribed reference trajectory. Rigorous analysis is performed using the Lyapunov theory and the C0-semigroup theory to prove that our proposed control scheme can guarantee closed-loop stability and well-posedness. Simulation study has been conducted to demonstrate effectiveness of the proposed approach.","PeriodicalId":366299,"journal":{"name":"2022 American Control Conference (ACC)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126283374","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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