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Asynchronous model predictive control of LPV systems with stochastic communication protocol 带有随机通信协议的 LPV 系统异步模型预测控制
IF 3.7 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-25 DOI: 10.1016/j.nahs.2024.101522
Hongjie Pang , Jun Cheng , Huaicheng Yan , Dan Zhang , Wenhai Qi

This study is dedicated to exploring the challenge of asynchronous resilient robust model predictive control (RMPC) for linear parameter-varying (LPV) systems operating under a stochastic communication protocol (SCP). In contrast to the conventional Markov-based SCP, a novel sojourn probability-based SCP is introduced to regulate packet transmissions. This innovative approach simplifies the determination of transition probabilities and lessens the computational burden. Acknowledging the challenges associated with observing sojourn probability information, a mode detector is employed to describe the connection between mode discrepancies. To address parameter uncertainties, a novel detected-mode-based resilient control law is formulated to ensure the mean-square stability of the LPV system within the resilient RMPC framework. Additionally, an online algorithm for resilient RMPC is presented, grounded in an auxiliary optimization problem. Ultimately, the effectiveness of the proposed control strategy is validated via a high-purity distillation process model.

本研究致力于探索在随机通信协议(SCP)下运行的线性参数变化(LPV)系统的异步弹性鲁棒模型预测控制(RMPC)所面临的挑战。与传统的基于马尔可夫的 SCP 不同,本文引入了一种新颖的基于逗留概率的 SCP 来调节数据包传输。这种创新方法简化了过渡概率的确定,减轻了计算负担。考虑到观测瞬时概率信息所面临的挑战,我们采用了模式检测器来描述模式差异之间的联系。为解决参数不确定性问题,制定了一种基于检测模式的新型弹性控制法则,以确保 LPV 系统在弹性 RMPC 框架内的均方稳定性。此外,还提出了一种基于辅助优化问题的弹性 RMPC 在线算法。最后,通过高纯度蒸馏过程模型验证了所提控制策略的有效性。
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引用次数: 0
Trajectory tracking in linear complementarity systems with and without state jumps: A passivity approach 有状态跳跃和无状态跳跃的线性互补系统中的轨迹跟踪:被动方法
IF 3.7 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-21 DOI: 10.1016/j.nahs.2024.101520
Aya Younes, Félix Miranda-Villatoro, Bernard Brogliato

This work is largely concerned with trajectory tracking in linear complementarity systems (LCS). The main analytical tool for stability analysis and control design is passivity and the associated linear matrix inequalities (LMIs) for feedback passification. Cases with and without state-jumps, with and without parametric uncertainties, are analyzed. Theoretical findings are illustrated with examples from circuits with set-valued, nonsmooth electronic components, networks with unilateral interactions, and mechanical system with unilateral spring.

这项工作主要涉及线性互补系统(LCS)的轨迹跟踪。稳定性分析和控制设计的主要分析工具是被动性和反馈被动性的相关线性矩阵不等式(LMI)。分析了有状态跳跃和无状态跳跃、有参数不确定性和无参数不确定性的情况。理论研究结果以具有集值非光滑电子元件的电路、具有单边相互作用的网络和具有单边弹簧的机械系统为例进行了说明。
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引用次数: 0
Finite Elements with Switch Detection for numerical optimal control of nonsmooth dynamical systems with set-valued heaviside step functions 带开关检测的有限元用于具有集值重边阶跃函数的非光滑动力系统的数值优化控制
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-08 DOI: 10.1016/j.nahs.2024.101518
Armin Nurkanović , Anton Pozharskiy , Jonathan Frey , Moritz Diehl

This paper develops high-accuracy methods for the numerical solution of optimal control problems subject to nonsmooth differential equations with set-valued Heaviside step functions. An important subclass of these systems are Filippov systems. By writing the Heaviside step function as the solution map of a linear program and using its optimality conditions, the initial nonsmooth system is rewritten into an equivalent Dynamic Complementarity System (DCS). The Finite Elements with Switch Detection (FESD) method (Nurkanović et al., 2024) was originally developed for Filippov systems transformed via Stewart’s reformulation into DCS (Stewart, 1990). This paper extends it to the above mentioned class of nonsmooth systems. The key ideas are to start with a standard Runge–Kutta method for the DCS and to let the integration step sizes to be degrees of freedom. Then, additional conditions are introduced to allow implicit but accurate switch detection and to remove possible spurious degrees of freedom when no switches occur. The theoretical properties of the FESD method are studied. The motivation for these developments is to obtain a computationally tractable formulation of nonsmooth optimal control problems. Numerical simulations and optimal control examples are used to illustrate the favorable properties of the proposed approach. All methods introduced in this paper are implemented in the open-source software package nosnoc (Nurkanović and Diehl, 2022).

本文针对具有集值海维塞德阶跃函数的非光滑微分方程的最优控制问题,开发了高精度数值求解方法。这些系统的一个重要子类是菲利波夫系统。通过将海维塞德阶跃函数写成线性程序的解映射,并利用其最优性条件,初始非光滑系统被改写成一个等效的动态互补系统(DCS)。带开关检测的有限元(FESD)方法(Nurkanović 等人,2024 年)最初是为通过 Stewart 重述转换为 DCS 的菲利波夫系统而开发的(Stewart,1990 年)。本文将其扩展到上述一类非光滑系统。其主要思想是从 DCS 的标准 Runge-Kutta 方法开始,让积分步长成为自由度。然后,引入附加条件,以实现隐式但准确的开关检测,并在不发生开关时去除可能的虚假自由度。对 FESD 方法的理论特性进行了研究。这些发展的动机是获得非光滑最优控制问题的可计算表述。本文使用数值模拟和最优控制实例来说明所提方法的有利特性。本文介绍的所有方法均在开源软件包 nosnoc(Nurkanović 和 Diehl,2022 年)中实现。
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引用次数: 0
Dynamic event-triggered control of linear continuous-time systems using a positive systems approach 使用正系统方法对线性连续时间系统进行动态事件触发控制
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-07 DOI: 10.1016/j.nahs.2024.101508
Safeyya Alyahia , Corina Barbalata , Michael Malisoff , Frédéric Mazenc

We provide new dynamic event-triggered controls for continuous-time linear systems that contain additive uncertainties. We prove input-to-state stability properties that imply uniform global exponential stability when the additive uncertainties are zero. Significant novel features include (a) new dynamic extensions and new trigger rules that provide a new positive systems analog of significant prior dynamic event-triggered work of A. Girard and (b) our application to a BlueROV2 underwater vehicle model, where we provide significantly larger lower bounds on the inter-execution times, and usefully fewer trigger times, compared with standard dynamic event-triggered approaches that used the usual Euclidean norm, and as compared with static event-triggered controls that instead used positive systems approaches.

我们为包含加性不确定性的连续时间线性系统提供了新的动态事件触发控制。我们证明了输入到状态的稳定性,这意味着当加法不确定性为零时,均匀的全局指数稳定性。重要的新特性包括:(a) 新的动态扩展和新的触发规则,为 A. Girard 先前的重要动态事件触发工作提供了新的正系统类比;(b) 我们对 BlueROV2 水下航行器模型的应用,与使用通常欧氏规范的标准动态事件触发方法相比,以及与使用正系统方法的静态事件触发控制相比,我们提供了更大的执行间时间下限和更少的触发时间。
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引用次数: 0
Stabilization of delayed semi-Markov jump neural networks with actuator faults: A quantized hybrid control approach 具有致动器故障的延迟半马尔可夫跃迁神经网络的稳定:量化混合控制方法
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-04 DOI: 10.1016/j.nahs.2024.101509
N. Aravinth , R. Sakthivel , N. Birundha devi , Ardashir Mohammadzadeh , S. Saat

The presented research is to focus on the issue of fault alarm-based quantized hybrid control strategy for semi-Markov jump neural networks subject to multiple vulnerable factors, namely, actuator faults, quantization effects and time-varying delays. Particularly, the fault-based alarm signal with a threshold value is proposed for controller switching and also for preventing false alarms. Precisely, a logarithmic quantizer is incorporated in the control design to adjust the transmission of signals and to enhance better robustness on system performance. Besides, a mixed H and passivity performance is employed in order to handle the traces of external disturbances. By proposing Lyapunov–Krasovskii functional involving time delays along with Wirtinger based integral inequality, the anticipated control gain parameters that confirm the stochastic stability of the addressed system can be determined with the assistance of linear matrix inequality. The excellent dynamic performances of the proposed control scheme are clarified through two numerical examples, whereas the stability of the system is restrained with the timely alert performance of the configured alarm signal.

本文的研究重点是半马尔可夫跃迁神经网络的基于故障报警的量化混合控制策略问题,该网络受到多种易受攻击因素的影响,即执行器故障、量化效应和时变延迟。特别是,提出了具有阈值的基于故障的报警信号,用于控制器的切换,也用于防止误报警。在控制设计中加入了对数量化器,以调整信号的传输,提高系统性能的鲁棒性。此外,还采用了混合 H∞ 和被动性能,以处理外部干扰痕迹。通过提出涉及时间延迟的 Lyapunov-Krasovskii 函数和基于 Wirtinger 的积分不等式,可以在线性矩阵不等式的帮助下确定预期的控制增益参数,从而确认所处理系统的随机稳定性。通过两个数值示例,阐明了所提控制方案的卓越动态性能,而系统的稳定性与所配置警报信号的及时警报性能息息相关。
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引用次数: 0
Output-feedback stabilization of probabilistic Boolean control networks 概率布尔控制网络的输出反馈稳定化
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-28 DOI: 10.1016/j.nahs.2024.101505
Shuting Zhang , Xueying Ding , Jianquan Lu , Jungang Lou , Yang Liu

To simulate a more realistic and uncertain system model, this paper innovatively studies the output feedback control strategy to stabilize probabilistic Boolean control networks (PBCNs). This is the first time that output feedback method is used to solve stability problems in PBCNs. Compared with the traditional state feedback, observing output states is more direct and efficient. Firstly, a condition for the output-feedback stabilization in the sense of minimum time is explored. A sufficient and necessary condition is then provided to determine time-invariant output-feedback stabilizers. Afterwards, two constructive algorithms for design time-invariant output-feedback controllers are proposed. To comprehensively solve the output feedback stabilization problems, this paper explores two sufficient conditions for obtaining stabilizers under time-varying feedback control inputs, which provides more feasibility and significance for solving biomedical problems.

为了模拟更真实、更不确定的系统模型,本文创新性地研究了输出反馈控制策略,以稳定概率布尔控制网络(PBCN)。这是首次使用输出反馈方法来解决 PBCN 的稳定性问题。与传统的状态反馈相比,观察输出状态更直接、更有效。首先,探讨了最小时间意义上的输出反馈稳定条件。然后,提供了确定时不变输出反馈稳定器的充分必要条件。随后,提出了两种设计时变输出反馈控制器的构造性算法。为了全面解决输出反馈稳定问题,本文探讨了在时变反馈控制输入下获得稳定器的两个充分条件,这为解决生物医学问题提供了更多的可行性和意义。
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引用次数: 0
Numerical solutions of optimal stopping problems for a class of hybrid stochastic systems 一类混合随机系统的最优停止问题的数值解决方案
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-17 DOI: 10.1016/j.nahs.2024.101507
Philip A. Ernst , Xiaohang Ma , Masoud H. Nazari , Hongjiang Qian , Le Yi Wang , George Yin

This paper is devoted to numerically solving a class of optimal stopping problems for stochastic hybrid systems involving both continuous states and discrete events. The motivation for solving this class of problems stems from quickest event detection problems of stochastic hybrid systems in broad application domains. We solve the optimal stopping problems numerically by constructing feasible algorithms using Markov chain approximation techniques. The key tasks we undertake include designing and constructing discrete-time Markov chains that are locally consistent with switching diffusions, proving the convergence of suitably scaled sequences, and obtaining convergence for the cost and value functions. Finally, numerical results are provided to demonstrate the performance of the algorithms.

本文致力于数值求解一类同时涉及连续状态和离散事件的随机混合系统的最优停止问题。解决这类问题的动机来自于广泛应用领域中随机混合系统的最快事件检测问题。我们利用马尔可夫链近似技术构建可行的算法,以数值方法解决最优停止问题。我们的主要任务包括设计和构建与切换扩散局部一致的离散时间马尔可夫链,证明适当比例序列的收敛性,以及获得成本和价值函数的收敛性。最后,我们将提供数值结果来证明算法的性能。
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引用次数: 0
Event-triggered stochastic consensus of multiagent systems over random antagonistic network in a compound noisy environment 复合噪声环境中随机拮抗网络上多代理系统的事件触发随机共识
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-17 DOI: 10.1016/j.nahs.2024.101506
Jinxin Shang , Yingxue Du , Zhi Liu , Ancai Zhang , Yan Zhang , Tianwei Zhou

This article investigates an event-triggered strategy to deal with the bipartite consensus issue for stochastic multiagent systems (SMASs) in a communication noisy environment. The communication network can be modeled by a random signed graph and the communication noise is compound noises (additive noise and multiplicative noise). The stochastic event-triggered bipartite consensus control protocol for SMASs with compound noises is presented by the stochastic approximation (SA) method. Due to the control gain is time-varying and agent-dependent, the implementation of event-triggered control protocol may cause out-sync of the control gain. Meanwhile, the coexistence of stochastic antagonistic information and compound noises causes it hard to turn the noises term into an error equation, which leads to the fact that the traditional error transition method is invalid for our underlying system. To deal with these challenges, the state’s boundedness for each agent is first constructed by the Lyapunov method, and then the event-triggered bipartite consensus can be demonstrated via a new semi-decomposition technique. Finally, the effectiveness of the proposed SA controller is verified by two examples.

本文研究了一种事件触发策略,用于处理通信噪声环境下随机多代理系统(SMAS)的两端共识问题。通信网络可以用随机符号图建模,通信噪声是复合噪声(加噪声和乘噪声)。本文采用随机逼近(SA)方法,提出了具有复合噪声的 SMAS 的随机事件触发双方位共识控制协议。由于控制增益是时变型的,且与代理相关,事件触发控制协议的实施可能会导致控制增益不同步。同时,随机拮抗信息和复合噪声的共存导致噪声项很难转化为误差方程,从而导致传统的误差转换方法对我们的底层系统无效。为了应对这些挑战,我们首先用 Lyapunov 方法构建了每个代理的状态有界性,然后通过一种新的半分解技术证明了事件触发的两方共识。最后,通过两个实例验证了所提出的 SA 控制器的有效性。
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引用次数: 0
Observer-based asynchronously intermittent decentralized control of large-scale systems 基于观测器的大规模系统异步间歇式分散控制
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-10 DOI: 10.1016/j.nahs.2024.101503
Ruogu Wang , Xuanrong Yang , Jing Shi

This paper focuses on observer-based asynchronously intermittent decentralized control of large-scale linear systems. The controller and observer of each subsystem are assumed to work and rest simultaneously, whereas the controllers and observers in different subsystems have independently and asynchronously intermittent working/resting time. By designing a piece-wise continuous auxiliary timer and using it to construct a switching vertex-Lyapunov function for each subsystem, we provide linear matrix inequality (LMI) conditions to determine the minimal allowable control rate of the intermittent controller that preserves the stability of the closed-loop system. We also present the design of an observer-based decentralized controller via LMIs. Finally, a simulation example illustrates the validity of the results.

本文主要研究基于观测器的大规模线性系统异步间歇分散控制。假定每个子系统的控制器和观测器同时工作和休息,而不同子系统的控制器和观测器具有独立的异步间歇工作/休息时间。通过设计一个片断连续辅助定时器,并利用它为每个子系统构建一个切换顶点-Lyapunov 函数,我们提供了线性矩阵不等式(LMI)条件,以确定保持闭环系统稳定性的间歇控制器的最小允许控制率。我们还介绍了通过线性矩阵不等式设计基于观测器的分散控制器。最后,一个仿真实例说明了结果的有效性。
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引用次数: 0
Optimal control strategies for stormwater detention ponds 雨水截留池的优化控制策略
IF 4.2 2区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-05-10 DOI: 10.1016/j.nahs.2024.101504
Martijn A. Goorden , Kim G. Larsen , Jesper E. Nielsen , Thomas D. Nielsen , Weizhu Qian , Michael R. Rasmussen , Jiří Srba , Guohan Zhao

Stormwater detention ponds are essential stormwater management solutions that regulate the urban catchment discharge towards streams. Their purposes are to reduce the hydraulic load to avoid stream erosion, as well as to minimize the degradation of the natural waterbody by direct discharge of pollutants. Currently, static controllers are widely implemented for detention pond outflow regulation in engineering practice, i.e., the outflow discharge is capped at a fixed value. Such a passive discharge setting fails to exploit the full potential of the overall water system, hence further improvements are needed. We apply formal methods to synthesize (i.e., derive automatically) optimal active controllers. We model the stormwater detention pond, including the urban catchment area and the rain forecasts with its uncertainty, as hybrid Markov decision processes. Subsequently, we use the tool Uppaal Stratego to synthesize using Q-learning a control strategy maximizing the retention time for pollutant sedimentation (optimality) while also minimizing the duration of emergency overflow in the detention pond (safety). These strategies are synthesized for both an off-line and on-line settings. Simulation results for an existing pond show that Uppaal Stratego can learn optimal strategies that significantly reduce emergency overflows. For off-line controllers, a scenario with low rain periods shows a 26% improvement of pollutant sedimentation with respect to static control, and a scenario with high rain periods shows a reduction of overflow probability of 10%–19% for static control to lower than 5%, while pollutant sedimentation has only declined by 7% compared to static-control. For on-line controllers, one scenario with heavy rain shows a 95% overflow duration reduction and a 29% pollutant sedimentation improvement compared to static control.

雨水滞留池是重要的雨水管理解决方案,可调节城市集水区向溪流的排放。其目的是减少水力负荷,避免溪流侵蚀,以及尽量减少污染物直接排放对自然水体造成的恶化。目前,工程实践中广泛采用静态控制器来调节滞留池的流出量,即把流出量限制在一个固定值上。这种被动的排放设置无法充分发挥整个水系统的潜力,因此需要进一步改进。我们采用正规方法合成(即自动推导)最佳主动控制器。我们将雨水滞留池(包括城市集水区和不确定的雨量预测)建模为混合马尔可夫决策过程。随后,我们使用 Uppaal Stratego 工具,通过 Q-learning 综合出一种控制策略,既能最大限度地延长污染物沉积的滞留时间(最优性),又能最大限度地缩短滞留池紧急溢流的持续时间(安全性)。这些策略是在离线和在线设置下合成的。对一个现有池塘的模拟结果表明,Uppaal Stratego 可以学习到显著减少紧急溢流的最优策略。对于离线控制器,在雨量较少的情况下,污染物沉积量比静态控制提高了 26%;在雨量较大的情况下,溢流概率从静态控制的 10%-19%降至 5%以下,而污染物沉积量与静态控制相比仅下降了 7%。就在线控制器而言,与静态控制相比,暴雨情况下的溢流持续时间缩短了 95%,污染物沉积量减少了 29%。
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引用次数: 0
期刊
Nonlinear Analysis-Hybrid Systems
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