European Journal of Control最新文献

英文中文

Efficient demand management for the on-time arrival problem: A convexified multi-objective approach assuming macroscopic traffic dynamics 准时到达问题的高效需求管理：假设宏观交通动态的凸化多目标方法

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101057

C. Menelaou, S. Timotheou, P. Kolios, C.G. Panayiotou

This work proposes a novel solution approach to address the On-Time Arrival (OTA) problem, considering macroscopic traffic dynamics. In this context, all drivers who intend to use the road infrastructure are required to communicate their origin–destination pair and desired arrival time to a central scheduler prior to starting their trip. In response, the scheduler assigns a departure time and a multi-regional route to each driver to make possible their on-time arrival at the destination. The OTA problem is formulated as a nonconvex, nonlinear, multi-objective optimization problem considering two objective criteria. The first criterion aims at minimizing the travel time of all drivers in the network to prevent congestion, while the second criterion seeks to minimize the discrepancy between the desired and actual arrival time. The proposed formulation is solved efficiently through an approximated convex solution that leverages the Normal Boundary Intersection (NBI) method to efficiently generate a representative sample of the Pareto Front. Additionally, two solution methodologies based on “knee” solution and the Nash Bargaining Game is proposed which can be used to select a unique solution across all the Pareto points, that offers a reasonable trade-off between the two objective criteria. Finally, simulation results demonstrate that the proposed solution can significantly reduce congestion while ensuring that most drivers will arrive at their destination on their desired time.

考虑到宏观交通动态，本研究提出了一种解决准时到达（OTA）问题的新方法。在这种情况下，所有打算使用道路基础设施的司机都必须在开始行程之前，将其出发地-目的地配对和期望到达时间告知中央调度员。作为回应，调度员会为每位司机分配出发时间和多区域路线，使他们能够准时到达目的地。OTA 问题是一个非凸、非线性、多目标优化问题，考虑到两个目标标准。第一个标准旨在最大限度地减少网络中所有司机的旅行时间，以防止拥堵；第二个标准旨在最大限度地减少理想到达时间与实际到达时间之间的差异。通过近似凸解，利用法线边界交叉（NBI）方法有效生成帕累托前沿的代表性样本，从而高效解决所提出的问题。此外，还提出了基于 "膝 "解和纳什讨价还价博弈的两种求解方法，可用于在所有帕累托点中选择一个唯一的解决方案，在两个目标标准之间进行合理权衡。最后，模拟结果表明，所提出的解决方案可以显著减少拥堵，同时确保大多数驾驶员能在预期时间内到达目的地。

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引用次数: 0

Gauss–Newton Runge–Kutta integration for efficient discretization of optimal control problems with long horizons and least-squares costs 高斯-牛顿 Runge-Kutta 积分法有效离散化具有长视野和最小二乘成本的最优控制问题

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101038

Jonathan Frey , Katrin Baumgärtner , Moritz Diehl

This work proposes an efficient treatment of continuous-time optimal control problems with long horizons and nonlinear least-squares costs. In particular, we present the Gauss–Newton Runge–Kutta (GNRK) integrator which provides a high-order cost integration. Crucially, the Hessian of the cost terms required within an SQP-type algorithm is approximated with a Gauss–Newton Hessian. Moreover,

L_{2}

penalty formulations for constraints are shown to be particularly effective for optimization with GNRK. An efficient implementation of GNRK is provided in the open-source software framework acados. We demonstrate the effectiveness of the proposed approach and its implementation on an illustrative example showing a reduction of relative suboptimality by a factor greater than 10 while increasing the runtime by only 10%.

这项研究提出了一种有效的方法，用于处理具有长周期和非线性最小二乘成本的连续时间最优控制问题。我们特别提出了高斯-牛顿 Runge-Kutta (GNRK) 积分器，它提供了高阶成本积分。最重要的是，SQP 类型算法中所需成本项的 Hessian 可以用高斯-牛顿 Hessian 逼近。此外，约束条件的惩罚公式对使用 GNRK 进行优化特别有效。在开源软件框架中提供了 GNRK 的高效实现。我们在一个示例中演示了所提方法及其实现的有效性，结果表明相对次优性降低了 10 倍以上，而运行时间仅增加了 10%。

引用次数: 0

On ℓ2-performance of weakly-hard real-time control systems 论弱硬实时控制系统的[公式省略]性能

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101056

Marc Seidel, Simon Lang, Frank Allgöwer

This paper considers control systems with failures in the feedback channel, that occasionally lead to loss of the control input signal. A useful approach for modeling such failures is to consider window-based constraints on possible loss sequences, for example that at least

r

control attempts in every window of

s

are successful. A powerful framework to model such constraints are weakly-hard real-time constraints. Various approaches for stability analysis and the synthesis of stabilizing controllers for such systems have been presented in the past. However, existing results are mostly limited to asymptotic stability and rarely consider performance measures such as the resulting

ℓ_{2}

-gain. To address this problem, we adapt a switched system description where the switching sequence is constrained by a graph that captures the loss information. We present an approach for

ℓ_{2}

-performance analysis involving linear matrix inequalities (LMI). Further, leveraging a system lifting method, we propose an LMI-based approach for synthesizing state-feedback controllers with guaranteed

ℓ_{2}

-performance. The results are illustrated by a numerical example.

本文考虑的是反馈通道出现故障的控制系统，这种故障偶尔会导致控制输入信号丢失。对这种故障建模的一种有用方法是考虑对可能的损失序列进行基于窗口的约束，例如，每个窗口中至少有一次控制尝试是成功的。弱硬实时约束是模拟此类约束的一个强大框架。过去曾提出过多种方法来分析此类系统的稳定性并合成稳定控制器。然而，现有结果大多局限于渐近稳定性，很少考虑性能指标，如产生的 - 增益。为了解决这个问题，我们采用了一种开关系统描述，在这种描述中，开关序列受一个能捕捉损失信息的图的约束。我们提出了一种涉及线性矩阵不等式（LMI）的性能分析方法。此外，利用系统提升方法，我们提出了一种基于 LMI 的方法，用于合成性能有保证的状态反馈控制器。通过一个数值示例对结果进行了说明。

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引用次数: 0

A contract negotiation scheme for safety verification of interconnected systems 用于互联系统安全验证的合同协商方案

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101053

Xiao Tan , Antonis Papachristodoulou , Dimos V. Dimarogonas

This paper proposes a (control) barrier function synthesis and safety verification scheme for interconnected nonlinear systems based on assume-guarantee contracts (AGC) and sum-of-squares (SOS) techniques. It is well-known that the SOS approach does not scale well for barrier function synthesis for high-dimensional systems. In this paper, we show that compositional methods like AGC can mitigate this problem. We formulate the synthesis problem into a set of small-size problems, which constructs local contracts for subsystems, and propose a negotiation scheme among the subsystems at the contract level. The proposed scheme is then implemented numerically on two examples: vehicle platooning and room temperature regulation.

本文提出了一种基于假设-保证合同（AGC）和平方和（SOS）技术的互联非线性系统（控制）障碍函数合成和安全验证方案。众所周知，SOS 方法不能很好地扩展到高维系统的障碍函数合成。在本文中，我们展示了 AGC 等组合方法可以缓解这一问题。我们将合成问题表述为一系列小问题，为子系统构建局部合约，并提出了子系统之间在合约层面的协商方案。然后，我们在两个实例中对所提出的方案进行了数值实现：车辆排布和室温调节。

引用次数: 0

Trajectory generation for the unicycle model using semidefinite relaxations 利用半有限松弛为单车模型生成轨迹

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101063

Hannah Häring , Dennis Gramlich , Christian Ebenbauer , Carsten W. Scherer

We develop a convex relaxation for the minimum energy control problem of the well-known unicycle model in the form of a semidefinite program. Through polynomialization techniques, the infinite-dimensional optimal control problem is first reformulated as a non-convex, infinite-dimensional quadratic program which can be viewed as a trajectory generation problem. This problem is then discretized to arrive at a finite-dimensional, albeit, non-convex quadratically constrained quadratic program. By applying the moment relaxation method to this quadratic program, we obtain a hierarchy of semidefinite relaxations. We construct an approximate solution for the infinite-dimensional trajectory generation problem by solving the first- or second-order moment relaxation. A comprehensive simulation study provided in this paper suggests that the second-order moment relaxation is lossless.

我们以半有限元程序的形式为著名的单轮车模型的最小能量控制问题开发了一种凸松弛方法。通过多项式化技术，无穷维最优控制问题首先被重新表述为一个非凸的无穷维二次方程程序，该程序可被视为轨迹生成问题。然后，将该问题离散化，得到一个有限维的非凸二次约束二次方程程序。通过对这个二次方程程应用矩松弛法，我们得到了一个半有限松弛的层次结构。通过求解一阶或二阶矩松弛法，我们构建了无穷维轨迹生成问题的近似解。本文提供的综合模拟研究表明，二阶矩松弛是无损的。

引用次数: 0

Decentralized event-triggered online learning for safe consensus control of multi-agent systems with Gaussian process regression 利用高斯过程回归实现多代理系统安全共识控制的分散事件触发在线学习

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101058

Xiaobing Dai , Zewen Yang , Mengtian Xu , Sihua Zhang , Fangzhou Liu , Georges Hattab , Sandra Hirche

Consensus control in multi-agent systems has received significant attention and practical implementation across various domains. However, managing consensus control under unknown dynamics remains a significant challenge for control design due to system uncertainties and environmental disturbances. This paper presents a novel learning-based distributed control law augmented by auxiliary dynamics. Gaussian processes are harnessed to compensate for the unknown components of the multi-agent system. For continuous enhancement in the predictive performance of the Gaussian process model, a data-efficient online learning strategy with a decentralized event-triggered mechanism is proposed. Furthermore, the control performance of the proposed approach is ensured via the Lyapunov theory, based on a probabilistic guarantee for prediction error bounds. To demonstrate the efficacy of the proposed learning-based controller, a comparative analysis is conducted, contrasting it with both conventional distributed control laws and offline learning methodologies.

多智能体系统中的共识控制受到了广泛关注，并在各个领域得到了实际应用。然而，由于系统的不确定性和环境干扰，在未知动态下管理共识控制仍是控制设计的一大挑战。本文提出了一种新颖的基于学习的分布式控制法，并通过辅助动力学进行了增强。利用高斯过程来补偿多代理系统的未知成分。为了不断提高高斯过程模型的预测性能，本文提出了一种具有分散事件触发机制的数据高效在线学习策略。此外，基于预测误差边界的概率保证，通过 Lyapunov 理论确保了所提方法的控制性能。为了证明所提出的基于学习的控制器的有效性，我们进行了对比分析，将其与传统的分布式控制法和离线学习方法进行了对比。

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引用次数: 0

Supervisory control under delayed observations of events and states 事件和状态延迟观测下的监督控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101069

Jiayuan Liang , Yanwei Zang , Wenbiao Zhang , Chaohui Gong , Lachlan L.H. Andrew , Hanran Zhang , Weilin Wang

In discrete event systems, it is often convenient and possible to observe directly whether or not the system is in a subset of the state space, typically after some delay, even if some event occurrences leading to the current state were not observed. We model supervisory control with the delayed observations of events and states and investigate the existence of a supervisor to obtain a given desired language accordingly. An existence verifier with polynomial run time is presented.

在离散事件系统中，直接观察系统是否处于状态空间的一个子集通常是非常方便和可行的，通常会经过一定的延迟，即使没有观察到导致当前状态的某些事件发生。我们利用对事件和状态的延迟观测来建立监督控制模型，并相应地研究监督者的存在性，以获得给定的期望语言。我们提出了一个运行时间为多项式的存在性验证器。

引用次数: 0

Robust design of phase-locked loops in grid-connected power converters 并网变流器中锁相环的稳健设计

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101055

Riya Mathew , Juan G. Rueda-Escobedo , Johannes Schiffer

Phase-locked loop (PLL) algorithms are key elements for the successful integration of converter-interfaced renewable energy sources to the grid. Their main task is to estimate the phase angle of the terminal grid voltage with the aim to keep the converter output current synchronized to it. Yet, due to the increasing penetration of power-electronics-interfaced devices in power systems, the grid voltage signal becomes increasingly disturbed, making the reliable phase estimation a highly demanding task. To address this challenge, we present a robust design method based on matrix inequalities to tune the PLL gains, such that the estimation errors remain bounded in the presence of additive disturbances. Our design approach is formulated as a set of bilinear matrix inequalities (BMIs), which we then propose to solve using the P-K iteration method. This results in a convex problem to be solved at each step. Finally, the benefits of the proposed robust design are illustrated via a numerical example.

锁相环（PLL）算法是将可再生能源变流器成功并入电网的关键因素。其主要任务是估算终端电网电压的相位角，以保持变流器输出电流与之同步。然而，由于电力系统中电力电子接口设备的渗透率越来越高，电网电压信号受到的干扰也越来越大，因此可靠的相位估算成为一项要求极高的任务。为了应对这一挑战，我们提出了一种基于矩阵不等式的稳健设计方法来调整 PLL 增益，从而使估计误差在存在加性干扰时保持在一定范围内。我们的设计方法被表述为一组双线性矩阵不等式 (BMI)，然后我们建议使用 P-K 迭代法来求解。这样，每一步都要解决一个凸问题。最后，我们将通过一个数值示例来说明所提出的稳健设计所带来的好处。

引用次数: 0

Invariant properties of linear-iterative distributed averaging algorithms and application to error detection 线性迭代分布式平均算法的不变特性及其在误差检测中的应用

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101035

Christoforos N. Hadjicostis , Alejandro D. Domínguez-García

We consider the problem of average consensus in a distributed system comprising a set of nodes that can exchange information among themselves. We focus on a class of algorithms for solving such a problem whereby each node maintains a state and updates it iteratively as a linear combination of the states maintained by its in-neighbors, i.e., nodes from which it receives information directly. Averaging algorithms within this class can be thought of as discrete-time linear time-varying systems without external driving inputs and whose state matrix is column stochastic. As a result, the algorithms exhibit a global invariance property in that the sum of the state variables remains constant at all times. In this paper, we report on another invariance property for the aforementioned class of averaging algorithms. This property is local to each node and reflects the conservation of certain quantities capturing an aggregate of all the values received by a node from its in-neighbors and all the values sent by said node to its out-neighbors (i.e., nodes to which it sends information directly) throughout the execution of the averaging algorithm. We show how this newly-discovered invariant can be leveraged for detecting errors while executing the averaging algorithm.

我们考虑的是由一组可以相互交换信息的节点组成的分布式系统中的平均共识问题。我们将重点放在一类解决此类问题的算法上，在这类算法中，每个节点都保持一个状态，并将其更新为其邻近节点（即直接从其接收信息的节点）所保持状态的线性组合。这类算法中的平均算法可以看作是离散时间线性时变系统，没有外部驱动输入，其状态矩阵是列随机的。因此，这些算法具有全局不变性，即状态变量之和在任何时候都保持不变。在本文中，我们将报告上述平均算法的另一个不变性。这一特性是每个节点的局部特性，它反映了某些量的守恒性，即在平均算法的整个执行过程中，一个节点从其内邻节点接收到的所有值的总和，以及该节点向其外邻节点（即它直接向其发送信息的节点）发送的所有值的总和。我们将展示如何在执行平均算法时利用这一新发现的不变量来检测错误。

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On the kite-platform interactions in offshore Airborne Wind Energy Systems: Frequency analysis and control approach 海上机载风能系统中风筝与平台的相互作用：频率分析和控制方法

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-11-01 DOI: 10.1016/j.ejcon.2024.101065

Sofia Trombini , Edoardo Pasta , Lorenzo Fagiano

This study investigates deep offshore, pumping Airborne Wind Energy systems, focusing on the kite-platform interaction. The considered system includes a 360 m

^{2}

soft-wing kite, connected by a tether to a winch installed on a 10-meter-deep spar with four mooring lines. Wind power is converted into electricity with a feedback controlled periodic trajectory of the kite and corresponding reeling motion of the tether. An analysis of the mutual influence between the platform and the kite dynamics, with different wave regimes, reveals a rather small sensitivity of the flight pattern to the platform oscillations; on the other hand, the frequency of tether force oscillations can be close to the platform resonance peaks, resulting in possible increased fatigue loads and damage of the floating and submerged components. A control design procedure is then proposed to avoid this problem, acting on the kite path planner. Simulation results confirm the effectiveness of the approach.

本研究调查了深海抽水机载风能系统，重点是风筝与平台的相互作用。所考虑的系统包括一个 360 米长的软翼风筝，通过系绳与安装在 10 米深带四根系泊线的支柱上的绞盘相连。通过风筝的周期性轨迹和系绳的相应卷绕运动的反馈控制，将风能转化为电能。通过分析平台和风筝动力学之间的相互影响，以及不同的波浪机制，可以发现飞行模式对平台振荡的敏感性很小；另一方面，系绳力振荡的频率可能接近平台共振峰值，从而可能增加疲劳载荷并损坏浮动和浸没部件。为避免这一问题，提出了一种控制设计程序，作用于风筝路径规划器。模拟结果证实了该方法的有效性。

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