Pub Date : 2013-12-06DOI: 10.1109/CDC.2013.6760883
S. Moura, J. Bendtsen, V. Ruiz
This paper develops methods for state estimation of aggregated thermostatically controlled loads (TCLs) in smart grids, via partial differential equation (PDE) techniques. TCLs include on/off controlled devices, such as heat pumps, HVAC systems, and deep freezers. Control of aggregated TCLs provides a promising opportunity to mitigate the mismatch between power generation and demand, thus enhancing grid reliability and enabling renewable energy penetration. However, persistent communication between thousands of TCLs to a central server can be prohibitive. To this end, this paper focuses on designing a state estimation scheme for a PDE-based model of aggregated TCLs, thus reducing the required communication. First, a two-state linear hyperbolic PDE model for homogenous TCL populations is presented. This model is extended to heterogeneous populations by including a diffusive term. Next, a state observer is derived, which uses only measurements of how many TCLs turn on/off at any given time. The design is proven to be exponentially stable via backstepping techniques. Finally, the observer's properties are demonstrated via simulation examples. The estimator provides system-critical information for power system monitoring and control.
{"title":"Observer design for boundary coupled PDEs: Application to thermostatically controlled loads in smart grids","authors":"S. Moura, J. Bendtsen, V. Ruiz","doi":"10.1109/CDC.2013.6760883","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760883","url":null,"abstract":"This paper develops methods for state estimation of aggregated thermostatically controlled loads (TCLs) in smart grids, via partial differential equation (PDE) techniques. TCLs include on/off controlled devices, such as heat pumps, HVAC systems, and deep freezers. Control of aggregated TCLs provides a promising opportunity to mitigate the mismatch between power generation and demand, thus enhancing grid reliability and enabling renewable energy penetration. However, persistent communication between thousands of TCLs to a central server can be prohibitive. To this end, this paper focuses on designing a state estimation scheme for a PDE-based model of aggregated TCLs, thus reducing the required communication. First, a two-state linear hyperbolic PDE model for homogenous TCL populations is presented. This model is extended to heterogeneous populations by including a diffusive term. Next, a state observer is derived, which uses only measurements of how many TCLs turn on/off at any given time. The design is proven to be exponentially stable via backstepping techniques. Finally, the observer's properties are demonstrated via simulation examples. The estimator provides system-critical information for power system monitoring and control.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1091 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":"127430778","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 : 2013-12-01DOI: 10.1109/CDC.2013.6761113
Koichi Kobayashi, T. Nagami, K. Hiraishi
In this paper, optimal control of multi-vehicle systems is studied. When collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulation is shown. The proposed method provides us a useful method in control of multi-vehicle systems.
{"title":"Optimal control of multi-vehicle systems with LTL specifications","authors":"Koichi Kobayashi, T. Nagami, K. Hiraishi","doi":"10.1109/CDC.2013.6761113","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761113","url":null,"abstract":"In this paper, optimal control of multi-vehicle systems is studied. When collision avoidance between vehicles and obstacle avoidance are imposed, state discretization is effective as one of the simplified approaches. Furthermore, using state discretization, cooperative actions such as rendezvous can be easily specified by linear temporal logic (LTL) formulas. However, it is not necessary to discretize all states, and partial states (e.g., the position of vehicles) should be discretized. From this viewpoint, a new control method for multi-vehicle systems is proposed in this paper. First, the system in which partial states are discretized is formulated. Next, the optimal control problem with constraints described by LTL formulas is formulated, and its solution method is proposed. Finally, numerical simulation is shown. The proposed method provides us a useful method in control of multi-vehicle systems.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115376668","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760735
Rizwan Ahmed Chaudhry, R. Vidal
Linear Dynamical Systems (LDSs) have been extensively used for modeling and recognition of dynamic visual phenomena such as human activities, dynamic textures, facial deformations and lip articulations. In these applications, a huge number of LDSs identified from high-dimensional time-series need to be compared. Over the past decade, three computationally efficient distances have emerged: the Martin distance [1], distances obtained from the subspace angles between observability subspaces [2], and distances obtained from the family of Binet-Cauchy kernels [3]. The main contribution of this work is to show that the first two distances are particular cases of the latter family obtained by making the Binet-Cauchy kernels invariant to the initial states of the LDSs. We also extend Binet-Cauchy kernels to take into account the mean of the dynamical process. We evaluate the performance of our metrics on several datasets and show similar or better human activity recognition results.
{"title":"Initial-state invariant Binet-Cauchy kernels for the comparison of Linear Dynamical Systems","authors":"Rizwan Ahmed Chaudhry, R. Vidal","doi":"10.1109/CDC.2013.6760735","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760735","url":null,"abstract":"Linear Dynamical Systems (LDSs) have been extensively used for modeling and recognition of dynamic visual phenomena such as human activities, dynamic textures, facial deformations and lip articulations. In these applications, a huge number of LDSs identified from high-dimensional time-series need to be compared. Over the past decade, three computationally efficient distances have emerged: the Martin distance [1], distances obtained from the subspace angles between observability subspaces [2], and distances obtained from the family of Binet-Cauchy kernels [3]. The main contribution of this work is to show that the first two distances are particular cases of the latter family obtained by making the Binet-Cauchy kernels invariant to the initial states of the LDSs. We also extend Binet-Cauchy kernels to take into account the mean of the dynamical process. We evaluate the performance of our metrics on several datasets and show similar or better human activity recognition results.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115664134","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760935
Jen-te Yu, L. Fu
In this paper we study the compensation problem of LQ control over lossy networks under TCP-like protocols. The system we consider is discrete, linear, and time-invariant. Firstly, a general framework for static compensation is proposed. Secondly, using dynamic programming and optimization method we are able to get governing equations for the controller and the compensator gains that are optimized. Under the new framework, the two popular compensators: zero-input and hold-input appear to be special cases of the proposed one, and the issue as to why none of the above two commonly adopted compensation strategies can be claimed to be better than the other is to a great extent clarified. An iterative algorithm is also presented to solve the governing equations for the optimal gains obtained in the paper. Following that we provide two numerical examples to validate the new approach.
{"title":"A new compensation framework for LQ control over lossy networks","authors":"Jen-te Yu, L. Fu","doi":"10.1109/CDC.2013.6760935","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760935","url":null,"abstract":"In this paper we study the compensation problem of LQ control over lossy networks under TCP-like protocols. The system we consider is discrete, linear, and time-invariant. Firstly, a general framework for static compensation is proposed. Secondly, using dynamic programming and optimization method we are able to get governing equations for the controller and the compensator gains that are optimized. Under the new framework, the two popular compensators: zero-input and hold-input appear to be special cases of the proposed one, and the issue as to why none of the above two commonly adopted compensation strategies can be claimed to be better than the other is to a great extent clarified. An iterative algorithm is also presented to solve the governing equations for the optimal gains obtained in the paper. Following that we provide two numerical examples to validate the new approach.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115677861","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760524
Jalal Habibi, A. Ghrayeb, A. Aghdam
Energy efficiency is an important performance measure in wireless sensor networks as the life span of the network is closely related to the rate of energy consumption of sensors. Cooperative communication schemes are implemented to reduce the energy consumption of the network, using the notion of diversity in wireless transmission. This work presents a framework for optimal relay selection and power allocation under some signal-to-noise ratio constraints. The proposed approach determines whether direct transmission from the source node to destination node is more energy-efficient or cooperative transmission through different nodes. In the latter case, data transmission from each node to the destination node is performed in two consecutive phases: broadcasting and relaying. The proposed scheme selects the best set of relays for data transmission, the optimal broadcasting power and the optimal power values for the cooperative transmission phase.
{"title":"Joint optimal relay selection and power allocation for cooperative transmission in wireless sensor networks","authors":"Jalal Habibi, A. Ghrayeb, A. Aghdam","doi":"10.1109/CDC.2013.6760524","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760524","url":null,"abstract":"Energy efficiency is an important performance measure in wireless sensor networks as the life span of the network is closely related to the rate of energy consumption of sensors. Cooperative communication schemes are implemented to reduce the energy consumption of the network, using the notion of diversity in wireless transmission. This work presents a framework for optimal relay selection and power allocation under some signal-to-noise ratio constraints. The proposed approach determines whether direct transmission from the source node to destination node is more energy-efficient or cooperative transmission through different nodes. In the latter case, data transmission from each node to the destination node is performed in two consecutive phases: broadcasting and relaying. The proposed scheme selects the best set of relays for data transmission, the optimal broadcasting power and the optimal power values for the cooperative transmission phase.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114653100","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760135
H. Mukaidani
In this paper, H2/H∞ control problem for linear stochastic system governed by Itô differential equation with state and external disturbance dependent noise involving multiple decision makers is investigated. A novel strategy concept for reliable decision is that Stackelberg game strategy is applied. As a result, the decision makers are able to induce the disturbance as if the disturbance is optimizing the cost function of each decision maker in hierarchical. It is shown that the required strategy set can be obtained by solving cross-coupled algebraic nonlinear matrix equations (CANMEs). In order to obtain a solution set, a numerical algorithm is derived via LMI technique. A simple numerical example is given to demonstrate the efficiency of the proposed method.
{"title":"H2/H∞ control of stochastic systems with multiple decision makers: A Stackelberg game approach","authors":"H. Mukaidani","doi":"10.1109/CDC.2013.6760135","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760135","url":null,"abstract":"In this paper, H2/H∞ control problem for linear stochastic system governed by Itô differential equation with state and external disturbance dependent noise involving multiple decision makers is investigated. A novel strategy concept for reliable decision is that Stackelberg game strategy is applied. As a result, the decision makers are able to induce the disturbance as if the disturbance is optimizing the cost function of each decision maker in hierarchical. It is shown that the required strategy set can be obtained by solving cross-coupled algebraic nonlinear matrix equations (CANMEs). In order to obtain a solution set, a numerical algorithm is derived via LMI technique. A simple numerical example is given to demonstrate the efficiency of the proposed method.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117123322","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760408
Takuya Morimoto, Takafumi Kanazawa, T. Ushio
We consider a multiagent system consisting of selfish and heterogeneous agents. Its behavior is modeled by multipopulation replicator dynamics, where payoff functions of populations are different from each other. In general, there exist several equilibrium points in the replicator dynamics. In order to stabilize a desirable equilibrium point, we introduce a controller called a “government” which controls the behaviors of agents by offering them subsidies. In previous work, it is assumed that the government determines the subsidies based on the populations the agents belong to. In general, however, the government cannot identify the members of each population. In this paper, we assume that the government observes the action of each agent and determines the subsidies based on the observed action profile. Then, we model the controlled behaviors of the agents using replicator dynamics with feedback. We derive a stabilization condition of the target equilibrium point in the replicator dynamics.
{"title":"Game theoretic approach to the stabilization of heterogeneous multiagent systems using subsidy","authors":"Takuya Morimoto, Takafumi Kanazawa, T. Ushio","doi":"10.1109/CDC.2013.6760408","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760408","url":null,"abstract":"We consider a multiagent system consisting of selfish and heterogeneous agents. Its behavior is modeled by multipopulation replicator dynamics, where payoff functions of populations are different from each other. In general, there exist several equilibrium points in the replicator dynamics. In order to stabilize a desirable equilibrium point, we introduce a controller called a “government” which controls the behaviors of agents by offering them subsidies. In previous work, it is assumed that the government determines the subsidies based on the populations the agents belong to. In general, however, the government cannot identify the members of each population. In this paper, we assume that the government observes the action of each agent and determines the subsidies based on the observed action profile. Then, we model the controlled behaviors of the agents using replicator dynamics with feedback. We derive a stabilization condition of the target equilibrium point in the replicator dynamics.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117157771","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 : 2013-12-01DOI: 10.1109/CDC.2013.6759987
Mohamed Kara Mohamed, A. Lanzon
This paper is concerned with the control design of nonlinear systems using feedback linearisation. The paper highlights the destabilisation effect of unmodelled actuator dynamics when applying feedback linearisation. To overcome this difficulty, a two stage feedback linearisation technique is proposed to compensate for actuator dynamics and subse- quently linearise nonlinear systems. A case study of a tri-rotor UAV is used to showcase the benefits of the proposed method in comparison with classical feedback linearisation. The paper is written from a UAV application's point of view, however, the proposed procedure is still valid for any input-affine invertible nonlinear system.
{"title":"Effect of unmodelled actuator dynamics on feedback linearised systems and a two stage feedback linearisation method","authors":"Mohamed Kara Mohamed, A. Lanzon","doi":"10.1109/CDC.2013.6759987","DOIUrl":"https://doi.org/10.1109/CDC.2013.6759987","url":null,"abstract":"This paper is concerned with the control design of nonlinear systems using feedback linearisation. The paper highlights the destabilisation effect of unmodelled actuator dynamics when applying feedback linearisation. To overcome this difficulty, a two stage feedback linearisation technique is proposed to compensate for actuator dynamics and subse- quently linearise nonlinear systems. A case study of a tri-rotor UAV is used to showcase the benefits of the proposed method in comparison with classical feedback linearisation. The paper is written from a UAV application's point of view, however, the proposed procedure is still valid for any input-affine invertible nonlinear system.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"29 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120918600","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 : 2013-12-01DOI: 10.1109/CDC.2013.6761061
Alina Eqtami, Shahab Heshmati-alamdari, Dimos V. Dimarogonas, K. Kyriakopoulos
In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.
{"title":"A self-triggered Model Predictive Control framework for the cooperation of distributed nonholonomic agents","authors":"Alina Eqtami, Shahab Heshmati-alamdari, Dimos V. Dimarogonas, K. Kyriakopoulos","doi":"10.1109/CDC.2013.6761061","DOIUrl":"https://doi.org/10.1109/CDC.2013.6761061","url":null,"abstract":"In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120975756","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 : 2013-12-01DOI: 10.1109/CDC.2013.6760831
F. Blanchini, P. Colaneri, M. E. Valcher
The contribution of this paper is twofold. Firstly, an example of a (positive) linear switched system that can be stabilized, via a controlled switching signal, but does not admit a smooth and positively homogeneous control Lyapunov function, is provided. The spectral properties of the subsystem matrices and of the Lyapunov candidates of the convex differential inclusion associated with the switched system, are thoroughly investigated. Secondly, by taking inspiration from the example, new feedback stabilization techniques for stabilizable positive switched systems are provided.
{"title":"A stabilizable switched linear system does not necessarily admit a smooth homogeneous Lyapunov function","authors":"F. Blanchini, P. Colaneri, M. E. Valcher","doi":"10.1109/CDC.2013.6760831","DOIUrl":"https://doi.org/10.1109/CDC.2013.6760831","url":null,"abstract":"The contribution of this paper is twofold. Firstly, an example of a (positive) linear switched system that can be stabilized, via a controlled switching signal, but does not admit a smooth and positively homogeneous control Lyapunov function, is provided. The spectral properties of the subsystem matrices and of the Lyapunov candidates of the convex differential inclusion associated with the switched system, are thoroughly investigated. Secondly, by taking inspiration from the example, new feedback stabilization techniques for stabilizable positive switched systems are provided.","PeriodicalId":415568,"journal":{"name":"52nd IEEE Conference on Decision and Control","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121209571","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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