Pub Date : 2017-06-29DOI: 10.23919/ACC.2017.7963559
Mayank Baranwal, Brian Roehl, S. Salapaka
This paper presents a new heuristic approach for multiple traveling salesmen problem (mTSP) and other variants of the TSP. In this approach, the TSP and its variants are seen as constrained resource allocation problems, where an ordered set of resources is associated to the cities, and the allocation is done through an iterative algorithm in such a way that eventually each city gets associated with a resource. The approach allows adding constraints on resources which translate to objectives such as minimum tour length (or multiple tour lengths as in mTSP) and other constraints that define the variants on the TSP problem. The algorithm for the associated resource allocation problem is based on maximum entropy principle (MEP) and the deterministic annealing algorithm. Besides mTSP, this article demonstrates this approach for close enough traveling salesman problem (CETSP), which is known to be computationally challenging since there is a continuum of possible edges between a pair of cities. The examples presented in this paper illustrate the effectiveness of this new framework for use in TSP and many variants thereof. Simulations demonstrate that the proposed MEP algorithm achieves significantly better solutions than the ones provided by the most commonly used simulated annealing algorithm with only marginal increase in run-time.
{"title":"Multiple traveling salesmen and related problems: A maximum-entropy principle based approach","authors":"Mayank Baranwal, Brian Roehl, S. Salapaka","doi":"10.23919/ACC.2017.7963559","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963559","url":null,"abstract":"This paper presents a new heuristic approach for multiple traveling salesmen problem (mTSP) and other variants of the TSP. In this approach, the TSP and its variants are seen as constrained resource allocation problems, where an ordered set of resources is associated to the cities, and the allocation is done through an iterative algorithm in such a way that eventually each city gets associated with a resource. The approach allows adding constraints on resources which translate to objectives such as minimum tour length (or multiple tour lengths as in mTSP) and other constraints that define the variants on the TSP problem. The algorithm for the associated resource allocation problem is based on maximum entropy principle (MEP) and the deterministic annealing algorithm. Besides mTSP, this article demonstrates this approach for close enough traveling salesman problem (CETSP), which is known to be computationally challenging since there is a continuum of possible edges between a pair of cities. The examples presented in this paper illustrate the effectiveness of this new framework for use in TSP and many variants thereof. Simulations demonstrate that the proposed MEP algorithm achieves significantly better solutions than the ones provided by the most commonly used simulated annealing algorithm with only marginal increase in run-time.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130414065","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963488
A. V. D. Maas, N. Wouw, W. Heemels
The recently introduced Split-Path Nonlinear Integrator (SPANI) is designed to improve the transient performance of linear (motion) systems in terms of overshoot. The SPANI was shown to be an effective nonlinear controller to improve transient performance by enforcing the same sign in the integrator action and the error. However, to avoid (fast) switching in the control input in steady-state, conservatism had to be introduced in the SPANI design, thereby limiting the performance. In this paper, this conservatism is removed by introducing a new design, called the Filtered Split-Path Nonlinear Integrator (F-SPANI). This design is based on the inclusion of an additional filter in the phase path, which enables the full potential behind the main idea of the SPANI. The ease of the design and implementation and the potential of the proposed controller are illustrated both in simulation and in experiments on a motion system.
{"title":"Filtered Split-Path Nonlinear Integrator (F-SPANI) for improved transient performance","authors":"A. V. D. Maas, N. Wouw, W. Heemels","doi":"10.23919/ACC.2017.7963488","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963488","url":null,"abstract":"The recently introduced Split-Path Nonlinear Integrator (SPANI) is designed to improve the transient performance of linear (motion) systems in terms of overshoot. The SPANI was shown to be an effective nonlinear controller to improve transient performance by enforcing the same sign in the integrator action and the error. However, to avoid (fast) switching in the control input in steady-state, conservatism had to be introduced in the SPANI design, thereby limiting the performance. In this paper, this conservatism is removed by introducing a new design, called the Filtered Split-Path Nonlinear Integrator (F-SPANI). This design is based on the inclusion of an additional filter in the phase path, which enables the full potential behind the main idea of the SPANI. The ease of the design and implementation and the potential of the proposed controller are illustrated both in simulation and in experiments on a motion system.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122203435","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963419
M. B. Saltik, Leyla Özkan, S. Weiland, J. Ludlage
In this paper, we present a model predictive control (MPC) strategy based on the moments of the state variables and the cost functional. The statistical properties of the state predictions are calculated through the open loop iteration of dynamics and used in the formulation of MPC cost function. We show that the moment based formulation yields predictive control problems which are computationally simpler to solve compared to the existing robust MPC formulations, while providing statistical robustness properties. We apply the proposed MPC technique to a simple simulation example to demonstrate its effectiveness.
{"title":"Moment based model predictive control for systems with additive uncertainty","authors":"M. B. Saltik, Leyla Özkan, S. Weiland, J. Ludlage","doi":"10.23919/ACC.2017.7963419","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963419","url":null,"abstract":"In this paper, we present a model predictive control (MPC) strategy based on the moments of the state variables and the cost functional. The statistical properties of the state predictions are calculated through the open loop iteration of dynamics and used in the formulation of MPC cost function. We show that the moment based formulation yields predictive control problems which are computationally simpler to solve compared to the existing robust MPC formulations, while providing statistical robustness properties. We apply the proposed MPC technique to a simple simulation example to demonstrate its effectiveness.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126036703","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963649
Nikolaos Kontaras, M. Heertjes, H. Zwart, M. Steinbuch
The implementation of lightweight high-performance motion systems in lithography applications imposes among others lower requirements on actuators, amplifiers, and cooling. However, the decreased stiffness of lightweight designs brings the effect of structural flexibilities to the fore especially when the so-called point of interest is not at a fixed location. This is for example the case when exposing a silicon wafer. To deal with structural flexibilities, a feedforward controller is proposed that combines two concepts: (a) continuous compliance compensation control and (b) snap feedforward control. Expanded to a subclass of LTV motion systems, the resulting controller compensates for the position-dependent and time-varying compliance of a flexible structure. The compliance function used will be derived using partial differential equations (PDE). The method is validated by simulation results.
{"title":"A compliance feedforward scheme for a class of LTV motion systems","authors":"Nikolaos Kontaras, M. Heertjes, H. Zwart, M. Steinbuch","doi":"10.23919/ACC.2017.7963649","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963649","url":null,"abstract":"The implementation of lightweight high-performance motion systems in lithography applications imposes among others lower requirements on actuators, amplifiers, and cooling. However, the decreased stiffness of lightweight designs brings the effect of structural flexibilities to the fore especially when the so-called point of interest is not at a fixed location. This is for example the case when exposing a silicon wafer. To deal with structural flexibilities, a feedforward controller is proposed that combines two concepts: (a) continuous compliance compensation control and (b) snap feedforward control. Expanded to a subclass of LTV motion systems, the resulting controller compensates for the position-dependent and time-varying compliance of a flexible structure. The compliance function used will be derived using partial differential equations (PDE). The method is validated by simulation results.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120948455","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963759
Guosong Yang, D. Liberzon, Zhong-Ping Jiang
We study the feedback stabilization of interconnected switched control-affine systems with both input-to-state stable (ISS) and non-ISS modes. Provided that the switching is slow in the sense of average dwell-time and the active time of non-ISS modes is short in proportion, suitable feedback controls are designed to achieve input-to-state practical stability (ISpS) with an arbitrarily small constant. We devise such feedback controls by extending a previous small-gain theorem on stability of interconnected switched systems to the ISpS context, and proposing a novel Lyapunov-based gain-assignment scheme.
{"title":"Stabilization of interconnected switched control-affine systems via a Lyapunov-based small-gain approach","authors":"Guosong Yang, D. Liberzon, Zhong-Ping Jiang","doi":"10.23919/ACC.2017.7963759","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963759","url":null,"abstract":"We study the feedback stabilization of interconnected switched control-affine systems with both input-to-state stable (ISS) and non-ISS modes. Provided that the switching is slow in the sense of average dwell-time and the active time of non-ISS modes is short in proportion, suitable feedback controls are designed to achieve input-to-state practical stability (ISpS) with an arbitrarily small constant. We devise such feedback controls by extending a previous small-gain theorem on stability of interconnected switched systems to the ISpS context, and proposing a novel Lyapunov-based gain-assignment scheme.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129123184","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963437
Weiwei Hu, Sei Zhen Khong
In this paper, we consider the problem of optimal distributed control of a multi-state reparable system. A Linear Quadratic Regulator (LQR) design is proposed in order to accelerate the convergence of the system to its steady-state availability under a preassigned rate. The feedback law provides insights into designing the optimal system maintenance strategy. Finite difference is used to approximate the system and numerical experiments are presented to demonstrate the efficacy of the proposed method.
{"title":"Optimal control design for a reparable multi-state system","authors":"Weiwei Hu, Sei Zhen Khong","doi":"10.23919/ACC.2017.7963437","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963437","url":null,"abstract":"In this paper, we consider the problem of optimal distributed control of a multi-state reparable system. A Linear Quadratic Regulator (LQR) design is proposed in order to accelerate the convergence of the system to its steady-state availability under a preassigned rate. The feedback law provides insights into designing the optimal system maintenance strategy. Finite difference is used to approximate the system and numerical experiments are presented to demonstrate the efficacy of the proposed method.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123261760","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 : 2017-06-29DOI: 10.23919/ACC.2017.7962983
P. V. D. Hof, Harm H. M. Weerts, Arne G. Dankers
In data-driven modelling in dynamic networks, it is commonly assumed that all measured node variables in the network are noise-disturbed and that the network (vector) noise process is full rank. However when the scale of the network increases, this full rank assumption may not be considered as realistic, as noises on different node signals can be strongly correlated. In this paper it is analyzed how a prediction error method can deal with a noise disturbance whose dimension is strictly larger than the number of white noise signals than is required to generate it (rank-reduced noise). Based on maximum likelihood considerations, an appropriate prediction error identification criterion will be derived and consistency will be shown, while variance results will be demonstrated in a simulation example.
{"title":"Prediction error identification with rank-reduced output noise","authors":"P. V. D. Hof, Harm H. M. Weerts, Arne G. Dankers","doi":"10.23919/ACC.2017.7962983","DOIUrl":"https://doi.org/10.23919/ACC.2017.7962983","url":null,"abstract":"In data-driven modelling in dynamic networks, it is commonly assumed that all measured node variables in the network are noise-disturbed and that the network (vector) noise process is full rank. However when the scale of the network increases, this full rank assumption may not be considered as realistic, as noises on different node signals can be strongly correlated. In this paper it is analyzed how a prediction error method can deal with a noise disturbance whose dimension is strictly larger than the number of white noise signals than is required to generate it (rank-reduced noise). Based on maximum likelihood considerations, an appropriate prediction error identification criterion will be derived and consistency will be shown, while variance results will be demonstrated in a simulation example.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"789 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120883566","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963507
Lianhao Yin, Gabriel Ingesson, Rolf Johansson, P. Tunestål, J. Hedrick
Precise air-path control of heavy-duty diesel engines contributes to emission regulation and high engine efficiency. The air path with VGT and EGR system is highly nonlinear with non-minimum-phase-system properties. The authors present a nonlinear control design - Receding Horizon Sliding Control (RHSC) to solve the tracking problem of the air-path. This control method handles the nonlinear dynamic of the air-path and takes into account for the system future behavior, the tracking reference are generated on basis of optimal engine-efficiency. The controller is validated in high-fidelity engine-model simulation.
{"title":"Nonlinear air-path control of a heavy-duty diesel engine - a Receding Horizon Sliding Control approach","authors":"Lianhao Yin, Gabriel Ingesson, Rolf Johansson, P. Tunestål, J. Hedrick","doi":"10.23919/ACC.2017.7963507","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963507","url":null,"abstract":"Precise air-path control of heavy-duty diesel engines contributes to emission regulation and high engine efficiency. The air path with VGT and EGR system is highly nonlinear with non-minimum-phase-system properties. The authors present a nonlinear control design - Receding Horizon Sliding Control (RHSC) to solve the tracking problem of the air-path. This control method handles the nonlinear dynamic of the air-path and takes into account for the system future behavior, the tracking reference are generated on basis of optimal engine-efficiency. The controller is validated in high-fidelity engine-model simulation.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117301139","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963562
A. Cherukuri, A. Domínguez-García, J. Cortés
This paper considers the problem of optimally dispatching a set of generators in a power system; these generators are interconnected to some loads via a network of buses. We consider scenarios when the power network is operating at a steady state, and a small change in the load occurs at some of the load buses. Upon occurrence of this event, the network seeks to find the change in generator injections and voltage phase angles that makes the new steady state meet the modified load with minimum total generation cost (corresponding to the summation of the individual convex cost functions of the generating units). The resulting optimization problem is nonconvex due to the nonconvex power balance constraints at the buses. We consider a convex approximation of the problem where the power balance constraints are linearized around the initial steady-state operating point. Assuming that each bus can communicate with buses connected to it in the physical power network, we provide two provably correct continuous-time distributed strategies that allow the generators to find the optimal power set points. Both designs build on the saddle-point dynamics of the Lagrangian of the optimization problem. Various simulations illustrate our results.
{"title":"Distributed coordination of power generators for a linearized optimal power flow problem","authors":"A. Cherukuri, A. Domínguez-García, J. Cortés","doi":"10.23919/ACC.2017.7963562","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963562","url":null,"abstract":"This paper considers the problem of optimally dispatching a set of generators in a power system; these generators are interconnected to some loads via a network of buses. We consider scenarios when the power network is operating at a steady state, and a small change in the load occurs at some of the load buses. Upon occurrence of this event, the network seeks to find the change in generator injections and voltage phase angles that makes the new steady state meet the modified load with minimum total generation cost (corresponding to the summation of the individual convex cost functions of the generating units). The resulting optimization problem is nonconvex due to the nonconvex power balance constraints at the buses. We consider a convex approximation of the problem where the power balance constraints are linearized around the initial steady-state operating point. Assuming that each bus can communicate with buses connected to it in the physical power network, we provide two provably correct continuous-time distributed strategies that allow the generators to find the optimal power set points. Both designs build on the saddle-point dynamics of the Lagrangian of the optimization problem. Various simulations illustrate our results.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130712630","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 : 2017-06-29DOI: 10.23919/ACC.2017.7963030
Y. Tachibana, T. Namerikawa
This paper proposes a RISE-based cooperative control of uncertain multi-agent system with exogenous disturbances. First, we introduce the second order model with disturbance for agent. The network topology among agents is undirected and connected, and information of reference is allowed to be available to at least one agent. Second, we propose the control law consists of graph theory, consensus algorithm and RISE. Graph theory and consensus algorithm are utilized to converge the states of agents to reference value, and RISE is utilized to suppress the disturbance. Then, we show the proposed control law guarantees the agents achieve synchronization, and derive the condition to achieve the control objective. Finally, simulation results show the effectiveness of the proposed control law.
{"title":"RISE-based cooperative control of uncertain multi-agent system","authors":"Y. Tachibana, T. Namerikawa","doi":"10.23919/ACC.2017.7963030","DOIUrl":"https://doi.org/10.23919/ACC.2017.7963030","url":null,"abstract":"This paper proposes a RISE-based cooperative control of uncertain multi-agent system with exogenous disturbances. First, we introduce the second order model with disturbance for agent. The network topology among agents is undirected and connected, and information of reference is allowed to be available to at least one agent. Second, we propose the control law consists of graph theory, consensus algorithm and RISE. Graph theory and consensus algorithm are utilized to converge the states of agents to reference value, and RISE is utilized to suppress the disturbance. Then, we show the proposed control law guarantees the agents achieve synchronization, and derive the condition to achieve the control objective. Finally, simulation results show the effectiveness of the proposed control law.","PeriodicalId":422926,"journal":{"name":"2017 American Control Conference (ACC)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-06-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115186109","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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