Pub Date : 1900-01-01DOI: 10.1109/CDC51059.2022.9993012
D. Burbano
Collective animal behavior has served as an invaluable source of inspiration for the design of optimization, estimation, and control algorithms in engineered systems, such as robotic swarms or the electrical power grid. Recent empirical evidence on fish collective behavior indicates that schooling — highly coordinating swimming— is modulated by the number of subjects in a shoal. Motivated by these findings, we conducted an analysis of individual fish swimming in groups. Interestingly, we found that the statistical dispersion of turn rate scales with the number of animals in a group. Inspired by this finding, we develop a simple yet effective algorithm for inferring the group size of a multi-agent system using local information only. In our formulation, each agent updates its state according to a first-order stochastic differential equation and communicates with neighbor agents. Similar to the empirical observations in fish shoals, we show that the statistical dispersion of the resulting emergent probability density function scales with the group size. This enables each agent in a network to only use local information to provide an estimate of the total number of agents. Our theoretical results are illustrated with a set of representative examples demonstrating the effectiveness of our approach.
{"title":"A bio-inspired distributed strategy to infer the size of a network system","authors":"D. Burbano","doi":"10.1109/CDC51059.2022.9993012","DOIUrl":"https://doi.org/10.1109/CDC51059.2022.9993012","url":null,"abstract":"Collective animal behavior has served as an invaluable source of inspiration for the design of optimization, estimation, and control algorithms in engineered systems, such as robotic swarms or the electrical power grid. Recent empirical evidence on fish collective behavior indicates that schooling — highly coordinating swimming— is modulated by the number of subjects in a shoal. Motivated by these findings, we conducted an analysis of individual fish swimming in groups. Interestingly, we found that the statistical dispersion of turn rate scales with the number of animals in a group. Inspired by this finding, we develop a simple yet effective algorithm for inferring the group size of a multi-agent system using local information only. In our formulation, each agent updates its state according to a first-order stochastic differential equation and communicates with neighbor agents. Similar to the empirical observations in fish shoals, we show that the statistical dispersion of the resulting emergent probability density function scales with the group size. This enables each agent in a network to only use local information to provide an estimate of the total number of agents. Our theoretical results are illustrated with a set of representative examples demonstrating the effectiveness of our approach.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114645293","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}
{"title":"A unified approach to linear estimation for discrete-time systems. II. H∞ estimation","authors":"Huanshui Zhang, Lihua Xie, Y. Soh","doi":"10.1109/.2001.980720","DOIUrl":"https://doi.org/10.1109/.2001.980720","url":null,"abstract":"","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121088190","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}
{"title":"Supervisory control of discrete event systems with CTL* temporal logic specifications","authors":"Shengbing Jiang, Ratnesh Kumar","doi":"10.1109/.2001.980826","DOIUrl":"https://doi.org/10.1109/.2001.980826","url":null,"abstract":"","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121105706","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 : 1900-01-01DOI: 10.1109/cdc.2004.1429191
Opmeer, O. Iftime
{"title":"2004 43rd IEEE Conference on Decision and Control (CDC)","authors":"Opmeer, O. Iftime","doi":"10.1109/cdc.2004.1429191","DOIUrl":"https://doi.org/10.1109/cdc.2004.1429191","url":null,"abstract":"","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115513284","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}
The problem of estimating perturbation bounds for finite trajectories of non-autonomous systems is considered. A worst case sensitivity derivative of the trajectory with respect to the uncertainty is used to verify that the perturbed trajectory is within a given neighborhood of the nominal. This gives rise to a robust control problem for linear time-varying systems. It is shown that relaxation using integral quadratic constraints and the solution to a linear quadratic optimal control problem can be used to find bounds on the robust control problem.
{"title":"Estimation of perturbation bounds for finite trajectories","authors":"U. Jönsson","doi":"10.1109/CDC.2000.914228","DOIUrl":"https://doi.org/10.1109/CDC.2000.914228","url":null,"abstract":"The problem of estimating perturbation bounds for finite trajectories of non-autonomous systems is considered. A worst case sensitivity derivative of the trajectory with respect to the uncertainty is used to verify that the perturbed trajectory is within a given neighborhood of the nominal. This gives rise to a robust control problem for linear time-varying systems. It is shown that relaxation using integral quadratic constraints and the solution to a linear quadratic optimal control problem can be used to find bounds on the robust control problem.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"363 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116054829","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 : 1900-01-01DOI: 10.1109/CDC.2004.1428748
S. Evangelou, D. Limebeer, R. Sharp, Malcolm C. Smith
There is an increasing use of virtual prototyping tools in the motorcycle industry, aimed at reducing the development time of new models and speeding up performance optimization, by providing the designer with an in-laboratory virtual test track. Virtual prototyping software is essentially multi body simulation software that requires the availability of models of all the vehicle components. The choice of the model is then of paramount importance, since it heavily affects the accuracy and reliability of the simulation results. Conventional models (like linear models) are often inadequate to describe the behavior of complex nonlinear components, so that it is necessary to appeal to different modelling approaches. This is actually the case when dealing with motorcycle suspension systems, given that their most critical part, the shock absorber, exhibits nonlinear and time-variant behavior. In this paper, a grey-box model of a racing motorcycle mono tube shock absorber is proposed. It consists of a nonlinear parametric model and a black-box, neural network based model. The absorber model has been implemented in a numerical simulation environment, and it has been validated against experimental test data. The results of the validation show that the model is able to reproduce the real behavior of the shock absorber with an accuracy that matches or even beats that of other models previously presented in the literature. The interfacing of the proposed model to the ADAMS virtual prototyping environment is also discussed.
{"title":"Grey-box modelling of a motorcycle shock absorber","authors":"S. Evangelou, D. Limebeer, R. Sharp, Malcolm C. Smith","doi":"10.1109/CDC.2004.1428748","DOIUrl":"https://doi.org/10.1109/CDC.2004.1428748","url":null,"abstract":"There is an increasing use of virtual prototyping tools in the motorcycle industry, aimed at reducing the development time of new models and speeding up performance optimization, by providing the designer with an in-laboratory virtual test track. Virtual prototyping software is essentially multi body simulation software that requires the availability of models of all the vehicle components. The choice of the model is then of paramount importance, since it heavily affects the accuracy and reliability of the simulation results. Conventional models (like linear models) are often inadequate to describe the behavior of complex nonlinear components, so that it is necessary to appeal to different modelling approaches. This is actually the case when dealing with motorcycle suspension systems, given that their most critical part, the shock absorber, exhibits nonlinear and time-variant behavior. In this paper, a grey-box model of a racing motorcycle mono tube shock absorber is proposed. It consists of a nonlinear parametric model and a black-box, neural network based model. The absorber model has been implemented in a numerical simulation environment, and it has been validated against experimental test data. The results of the validation show that the model is able to reproduce the real behavior of the shock absorber with an accuracy that matches or even beats that of other models previously presented in the literature. The interfacing of the proposed model to the ADAMS virtual prototyping environment is also discussed.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122159887","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 : 1900-01-01DOI: 10.1109/CDC.2012.6426833
A. Ferrante, L. Ntogramatzidis
{"title":"The generalised discrete algebraic Riccati equation arising in LQ optimal control problems: Part I","authors":"A. Ferrante, L. Ntogramatzidis","doi":"10.1109/CDC.2012.6426833","DOIUrl":"https://doi.org/10.1109/CDC.2012.6426833","url":null,"abstract":"","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128248910","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 : 1900-01-01DOI: 10.1109/CDC.2002.1185077
C. Kung, C. Yang, Day-Woel Chiou, C. Luo
This paper investigates a new application of the nonlinear H/sub /spl infin// control to a helicopter whose complete six degree-of-freedom nonlinear equations of motion with coupled rotor and inflow dynamics are considered directly without linearization. A closed-form expression for the nonlinear H/sub /spl infin// helicopter flight controller is derived from the solution of Hamilton-Jacobi partial differential inequality and is shown to be in the simple structure of proportional feedback. We also solve the problem of how to implement helicopter blade pitch control from the nonlinear H/sub /spl infin// command. Robustness and global stability are validated in a nonlinear six degree-of-freedom simulation, which reveals that nonlinear H/sub /spl infin// helicopter control can resist the maximal possible wind gust with varying statistical characteristics, and reveals that much better performance and larger flight envelope can be achieved by the nonlinear H/sub /spl infin// controller.
{"title":"Nonlinear H∞ helicopter control","authors":"C. Kung, C. Yang, Day-Woel Chiou, C. Luo","doi":"10.1109/CDC.2002.1185077","DOIUrl":"https://doi.org/10.1109/CDC.2002.1185077","url":null,"abstract":"This paper investigates a new application of the nonlinear H/sub /spl infin// control to a helicopter whose complete six degree-of-freedom nonlinear equations of motion with coupled rotor and inflow dynamics are considered directly without linearization. A closed-form expression for the nonlinear H/sub /spl infin// helicopter flight controller is derived from the solution of Hamilton-Jacobi partial differential inequality and is shown to be in the simple structure of proportional feedback. We also solve the problem of how to implement helicopter blade pitch control from the nonlinear H/sub /spl infin// command. Robustness and global stability are validated in a nonlinear six degree-of-freedom simulation, which reveals that nonlinear H/sub /spl infin// helicopter control can resist the maximal possible wind gust with varying statistical characteristics, and reveals that much better performance and larger flight envelope can be achieved by the nonlinear H/sub /spl infin// controller.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130562159","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 : 1900-01-01DOI: 10.1109/CDC.2004.1429374
C. D. Persis
We discuss in this paper a result concerning the stabilization problem of nonlinear systems under data-rate constraints using output feedback. To put the result in a broader context, we first review a number of recent contributions on the stabilization problem under data-rate constraints when full-state measurements are available.
{"title":"Results on stabilization of nonlinear systems under finite data-rate constraints","authors":"C. D. Persis","doi":"10.1109/CDC.2004.1429374","DOIUrl":"https://doi.org/10.1109/CDC.2004.1429374","url":null,"abstract":"We discuss in this paper a result concerning the stabilization problem of nonlinear systems under data-rate constraints using output feedback. To put the result in a broader context, we first review a number of recent contributions on the stabilization problem under data-rate constraints when full-state measurements are available.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121372180","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 : 1900-01-01DOI: 10.1109/CDC.2014.7040238
A. György, D. Vecchio
Gene circuits share transcriptional and translational resources in the cell. The fact that these common resources are available only in limited amounts leads to unexpected couplings in protein expressions. As a result, our predictive ability of describing the behavior of gene circuits is limited. In this paper, we consider the simultaneous expression of proteins and describe the coupling among protein concentrations due to competition for RNA polymerase and ribosomes. In particular, we identify the limitations and trade-offs in gene expression by characterizing the attainable combinations of protein concentrations. We further present two application examples of our results: we show that even in the absence of regulatory linkages, genes can seemingly behave as repressors, and surprisingly, as activators to each other, purely due to the limited availability of shared cellular resources.
{"title":"Limitations and trade-offs in gene expression due to competition for shared cellular resources","authors":"A. György, D. Vecchio","doi":"10.1109/CDC.2014.7040238","DOIUrl":"https://doi.org/10.1109/CDC.2014.7040238","url":null,"abstract":"Gene circuits share transcriptional and translational resources in the cell. The fact that these common resources are available only in limited amounts leads to unexpected couplings in protein expressions. As a result, our predictive ability of describing the behavior of gene circuits is limited. In this paper, we consider the simultaneous expression of proteins and describe the coupling among protein concentrations due to competition for RNA polymerase and ribosomes. In particular, we identify the limitations and trade-offs in gene expression by characterizing the attainable combinations of protein concentrations. We further present two application examples of our results: we show that even in the absence of regulatory linkages, genes can seemingly behave as repressors, and surprisingly, as activators to each other, purely due to the limited availability of shared cellular resources.","PeriodicalId":411031,"journal":{"name":"IEEE Conference on Decision and Control","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132397971","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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