Pub Date : 2013-12-10DOI: 10.1109/CDC.2013.6760246
M. Zarudniev, A. Korniienko, G. Scorletti, P. Villard
The design of systems defined as networks (interconnections) of identical subsystems emerges as an interesting engineering problem, with some open issues. One of these issues is how to “retune” the interconnection in order to ensure the stability and the performance of the system. Based on the LFT representation and on the input-output framework, we propose in this paper some efficient “retuning” methods using convex optimization involving LMI constraints. The proposed approach can be interpreted as an extension of usual state space methods. Its application is investigated for the design of a network of PLLs.
{"title":"Network internal signal feedback and injection: Interconnection matrix redesign","authors":"M. Zarudniev, A. Korniienko, G. Scorletti, P. Villard","doi":"10.1109/CDC.2013.6760246","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760246","url":null,"abstract":"The design of systems defined as networks (interconnections) of identical subsystems emerges as an interesting engineering problem, with some open issues. One of these issues is how to “retune” the interconnection in order to ensure the stability and the performance of the system. Based on the LFT representation and on the input-output framework, we propose in this paper some efficient “retuning” methods using convex optimization involving LMI constraints. The proposed approach can be interpreted as an extension of usual state space methods. Its application is investigated for the design of a network of PLLs.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132469212","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760476
Bahare Kiumarsi-Khomartash, F. Lewis, M. Naghibi-Sistani, A. Karimpour
This paper presents an online solution to the infinite-horizon linear quadratic tracker (LQT) using reinforcement learning. It is first assumed that the value function for the LQT is quadratic in terms of the reference trajectory and the state of the system. Then, using the quadratic form of the value function, an augmented algebraic Riccati equation (ARE) is derived to solve the LQT. Using this formulation, both feedback and feedforward parts of the optimal control solution are obtained simultaneously by solving the augmented ARE. To find the solution to the augmented ARE online, policy iteration as a class of reinforcement learning algorithms, is employed. This algorithm is implemented on an actor-critic structure by using two neural networks and it does not need the knowledge of the drift system dynamics or the command generator dynamics. A simulation example shows that the proposed algorithm works for a system with partially unknown dynamics.
{"title":"Optimal tracking control for linear discrete-time systems using reinforcement learning","authors":"Bahare Kiumarsi-Khomartash, F. Lewis, M. Naghibi-Sistani, A. Karimpour","doi":"10.1109/CDC.2013.6760476","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760476","url":null,"abstract":"This paper presents an online solution to the infinite-horizon linear quadratic tracker (LQT) using reinforcement learning. It is first assumed that the value function for the LQT is quadratic in terms of the reference trajectory and the state of the system. Then, using the quadratic form of the value function, an augmented algebraic Riccati equation (ARE) is derived to solve the LQT. Using this formulation, both feedback and feedforward parts of the optimal control solution are obtained simultaneously by solving the augmented ARE. To find the solution to the augmented ARE online, policy iteration as a class of reinforcement learning algorithms, is employed. This algorithm is implemented on an actor-critic structure by using two neural networks and it does not need the knowledge of the drift system dynamics or the command generator dynamics. A simulation example shows that the proposed algorithm works for a system with partially unknown dynamics.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116040447","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760807
R. Hildebrand, M. Gevers
We consider optimal experiment design for parametric prediction error system identification of linear time-invariant multi-input multi-output systems in closed-loop when the true system is in the model set. The optimization is performed jointly over the controller and the spectrum of the external input. Previously we tackled this problem by parametrizing the set of admissible controller - external input pairs by a finite set of matrix-valued trigonometric moments and derived a description of the set of admissible finite-dimensional moment vectors by a linear matrix inequality. Here we present a way to recover the controller and the power spectrum of the external input from the optimal moment vector. To this end we prove that the central extension of the finite moment sequence yields a feasible solution. This yields the joint power spectrum of the input and the noise vector as an explicit rational function and allows to construct the optimal “controller - external input pair” directly from the optimal moment vector.
{"title":"Central extensions in closed-loop optimal experiment design","authors":"R. Hildebrand, M. Gevers","doi":"10.1109/CDC.2013.6760807","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760807","url":null,"abstract":"We consider optimal experiment design for parametric prediction error system identification of linear time-invariant multi-input multi-output systems in closed-loop when the true system is in the model set. The optimization is performed jointly over the controller and the spectrum of the external input. Previously we tackled this problem by parametrizing the set of admissible controller - external input pairs by a finite set of matrix-valued trigonometric moments and derived a description of the set of admissible finite-dimensional moment vectors by a linear matrix inequality. Here we present a way to recover the controller and the power spectrum of the external input from the optimal moment vector. To this end we prove that the central extension of the finite moment sequence yields a feasible solution. This yields the joint power spectrum of the input and the noise vector as an explicit rational function and allows to construct the optimal “controller - external input pair” directly from the optimal moment vector.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130023068","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 : 2013-12-10DOI: 10.1109/CDC.2013.6761064
C. D. Persis, P. Frasca, J. Hendrickx
A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort.
{"title":"Self-triggered rendezvous of gossiping second-order agents","authors":"C. D. Persis, P. Frasca, J. Hendrickx","doi":"10.1109/CDC.2013.6761064","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761064","url":null,"abstract":"A recent paper by some of the authors introduced several self-triggered coordination algorithms for first-order continuous-time systems. The extension of these algorithms to second-order agents is relevant in many practical applications but presents some challenges that are tackled in this contribution and that require to depart from the analysis that was carried out before. We design a self-triggered gossiping coordination algorithm that induces a time-varying communication graph, which is enough connected to guarantee useful convergence properties, and allows us to achieve the desired coordination task in a formation of double-integrator agents that (i) establish pair-wise communication at suitably designed times and (ii) exchange relative measurements while reducing the sensing and communication effort.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133380585","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 : 2013-12-10DOI: 10.1109/CDC.2013.6761029
Jean-Baptiste Tylcz, M. Abbaci, T. Bastogne, W. Blondel, D. Dumas, M. Barberi-Heyob
Gap-Fluorescence Recovery After Photobleaching (gap-FRAP) is a technique used to estimate functionality of intercellular connections in biology. Such a technique could potentially be involved in the diagnostic of normal/cancer cells. Discrimination of cell types may be performed directly, by comparing plots of fluorescence kinetics or indirectly by statistical testing applied to model parameters. This paper focuses on the latter model-based approach. Up to now, more than ninety percent of the models used to fit gap-FRAP responses have been derived from diffusion equations (partial differential equation). We propose to simplify the modeling procedure by using behavioral models derived from system identification techniques used in control engineering. To assess in practice the relevance of this concurrent method, two human head and neck carcinoma cell lines (KB and FaDu) were used. The former (KB) expresses connexin proteins (positive line) while the latter (FaDu) does not (negative line). Moreover, each cell line was tested on spheroid (3-D) and monolayer (2-D) slices and in vitro assays were repeated six times. System identification algorithms of the CONTSID Matlab toolbox were used to estimate the model parameters from the in vitro data sets. Results have particularly emphasized there is no need to use complex models to fit the observed gap-FRAP responses. We show that the static gain of the estimated transfer functions is able to discriminate cell types used in this study, which corroborates the relevance of system identification techniques for diagnostic applications based on gap-FRAP analysis.
{"title":"System identification of the fluorescence recovery after photobleaching in gap junctional intracellular communications","authors":"Jean-Baptiste Tylcz, M. Abbaci, T. Bastogne, W. Blondel, D. Dumas, M. Barberi-Heyob","doi":"10.1109/CDC.2013.6761029","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761029","url":null,"abstract":"Gap-Fluorescence Recovery After Photobleaching (gap-FRAP) is a technique used to estimate functionality of intercellular connections in biology. Such a technique could potentially be involved in the diagnostic of normal/cancer cells. Discrimination of cell types may be performed directly, by comparing plots of fluorescence kinetics or indirectly by statistical testing applied to model parameters. This paper focuses on the latter model-based approach. Up to now, more than ninety percent of the models used to fit gap-FRAP responses have been derived from diffusion equations (partial differential equation). We propose to simplify the modeling procedure by using behavioral models derived from system identification techniques used in control engineering. To assess in practice the relevance of this concurrent method, two human head and neck carcinoma cell lines (KB and FaDu) were used. The former (KB) expresses connexin proteins (positive line) while the latter (FaDu) does not (negative line). Moreover, each cell line was tested on spheroid (3-D) and monolayer (2-D) slices and in vitro assays were repeated six times. System identification algorithms of the CONTSID Matlab toolbox were used to estimate the model parameters from the in vitro data sets. Results have particularly emphasized there is no need to use complex models to fit the observed gap-FRAP responses. We show that the static gain of the estimated transfer functions is able to discriminate cell types used in this study, which corroborates the relevance of system identification techniques for diagnostic applications based on gap-FRAP analysis.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127467565","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760144
B. Bonnard, O. Cots, N. Shcherbakova
The Euler-Poinsot rigid body problem is a well known model of left-invariant metrics on SO(3). In the present paper we discuss the properties of two related reduced 2D models: the sub-Riemanian metric of a system of three coupled spins and the Riemannian metric associated to the Euler-Poinsot problem via the Serret-Andoyer reduction.We explicitly construct Jacobi fields and explain the structure of conjugate loci in the Riemannian case and give the first numerical results for the spin dynamics case.
{"title":"Riemannian metrics on 2D manifolds related to the Euler-Poinsot rigid body problem","authors":"B. Bonnard, O. Cots, N. Shcherbakova","doi":"10.1109/CDC.2013.6760144","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760144","url":null,"abstract":"The Euler-Poinsot rigid body problem is a well known model of left-invariant metrics on SO(3). In the present paper we discuss the properties of two related reduced 2D models: the sub-Riemanian metric of a system of three coupled spins and the Riemannian metric associated to the Euler-Poinsot problem via the Serret-Andoyer reduction.We explicitly construct Jacobi fields and explain the structure of conjugate loci in the Riemannian case and give the first numerical results for the spin dynamics case.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125298270","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760937
A. Rosich, H. Voos, Yumei Li, M. Darouach
The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are investigated by means of optimization techniques in order to determine the worst-case scenario. Then, a novel attack detector based on limit checking is introduced. The particularity of this detector is that no specific controller knowledge is necessary. Hence, the vulnerability of the detector can be reduced since no reconfiguration is required (limited accessibility). Finally, the paper shows that the effect of the attacks on the system can be significantly mitigated by applying proper optimal control laws.
{"title":"A model predictive approach for cyber-attack detection and mitigation in control systems","authors":"A. Rosich, H. Voos, Yumei Li, M. Darouach","doi":"10.1109/CDC.2013.6760937","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760937","url":null,"abstract":"The paper presents a new approach for control security. Specifically, cyber-attacks on the controller are investigated by means of optimization techniques in order to determine the worst-case scenario. Then, a novel attack detector based on limit checking is introduced. The particularity of this detector is that no specific controller knowledge is necessary. Hence, the vulnerability of the detector can be reduced since no reconfiguration is required (limited accessibility). Finally, the paper shows that the effect of the attacks on the system can be significantly mitigated by applying proper optimal control laws.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126360813","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 : 2013-12-10DOI: 10.1109/CDC.2013.6760146
F. Jean, P. Mason, F. Chittaro
The present paper analyses a class of optimal control problems on geometric paths of the euclidean space, that is, curves parametrized by arc length. In the first part we deal with existence and robustness issues for such problems and we define the associated inverse optimal control problem. In the second part we discuss the inverse optimal control problem in the special case of planar trajectories and under additional assumptions. More precisely we define a criterion to restrict the study to a convenient class of costs based on the analysis of experimentally recorded trajectories. This method applies in particular to the case of human locomotion trajectories.
{"title":"Geometric modeling of the movement based on an inverse optimal control approach","authors":"F. Jean, P. Mason, F. Chittaro","doi":"10.1109/CDC.2013.6760146","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760146","url":null,"abstract":"The present paper analyses a class of optimal control problems on geometric paths of the euclidean space, that is, curves parametrized by arc length. In the first part we deal with existence and robustness issues for such problems and we define the associated inverse optimal control problem. In the second part we discuss the inverse optimal control problem in the special case of planar trajectories and under additional assumptions. More precisely we define a criterion to restrict the study to a convenient class of costs based on the analysis of experimentally recorded trajectories. This method applies in particular to the case of human locomotion trajectories.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122265406","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 : 2013-12-09DOI: 10.1109/CDC.2013.6760268
Vincent Léchappé, Y. Aoustin, Luis Alejandro Marquez Martinez, C. Moog
The planar vertical take-off and landing (PVTOL) aircraft is worked out by inspecting the various feedback linearization solutions. Partial linearizations of the state space are performed, which ensure the stability of the associated internal dynamics. The results are obtained through the search of dummy outputs with a 0-dimensional, 1-dimensional or 2-dimensional zero-dynamics that are stable.
{"title":"Partial linearization of the PVTOL aircraft with internal stability","authors":"Vincent Léchappé, Y. Aoustin, Luis Alejandro Marquez Martinez, C. Moog","doi":"10.1109/CDC.2013.6760268","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760268","url":null,"abstract":"The planar vertical take-off and landing (PVTOL) aircraft is worked out by inspecting the various feedback linearization solutions. Partial linearizations of the state space are performed, which ensure the stability of the associated internal dynamics. The results are obtained through the search of dummy outputs with a 0-dimensional, 1-dimensional or 2-dimensional zero-dynamics that are stable.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117045301","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 : 2013-12-06DOI: 10.1109/CDC.2013.6759898
J. Bendtsen, M. Krstić
We consider control of a cooling system with several consumers that require cooling from a common source. The flow feeding coolant to the consumers can be controlled, but due to significant physical distances between the common source and the consumers, the coolant flow takes a non-negligible amount of time to travel to the consumers, giving rise to input-dependent state delays. We first present a simple bilinear model of the system, followed by a state feedback control design that is able to stabilize the system at a chosen equilibrium in spite of the delays. We also present a heuristic, performance-oriented improvement to the design. The strategy is illustrated with some simulation examples.
{"title":"Control of thermodynamical system with input-dependent state delays","authors":"J. Bendtsen, M. Krstić","doi":"10.1109/CDC.2013.6759898","DOIUrl":"https://doi.org/10.1109/CDC.2013.6759898","url":null,"abstract":"We consider control of a cooling system with several consumers that require cooling from a common source. The flow feeding coolant to the consumers can be controlled, but due to significant physical distances between the common source and the consumers, the coolant flow takes a non-negligible amount of time to travel to the consumers, giving rise to input-dependent state delays. We first present a simple bilinear model of the system, followed by a state feedback control design that is able to stabilize the system at a chosen equilibrium in spite of the delays. We also present a heuristic, performance-oriented improvement to the design. The strategy is illustrated with some simulation examples.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128789015","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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