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Analysis and design of model predictive control frameworks for dynamic operation—An overview 动态运行模型预测控制框架的分析与设计--概述
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2023.100929
Johannes Köhler , Matthias A. Müller , Frank Allgöwer

This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part of the control objective, ranging from tracking of reference signals to the general economic operation of a plant under online changing time-varying operating conditions. We focus on the particular challenges that arise when dealing with such more general control goals and present methods that have emerged in the literature to address these issues. The goal of this article is to present an overview of the state-of-the-art techniques, providing a diverse toolkit to apply and further develop MPC formulations that can handle the challenges intrinsic to dynamic operation. We also critically assess the applicability of the different research directions, discussing limitations and opportunities for further research.

本文概述了用于非线性约束系统动态运行的模型预测控制(MPC)框架。动态运行通常是控制目标不可分割的一部分,从跟踪参考信号到在线时变运行条件下工厂的一般经济运行,不一而足。我们将重点关注在处理此类更一般的控制目标时出现的特殊挑战,并介绍文献中出现的解决这些问题的方法。本文的目的是概述最先进的技术,为应用和进一步开发可应对动态运行固有挑战的 MPC 配方提供多样化的工具包。我们还严格评估了不同研究方向的适用性,讨论了进一步研究的局限性和机遇。
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引用次数: 0
Revisiting disturbance decoupling with an optimization perspective 从优化角度重新审视干扰解耦
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2023.100928
Selahattin Burak Sarsılmaz , Sarah H.Q. Li , Behçet Açıkmeşe

This paper presents an optimization-based perspective for incorporating disturbance decoupling constraints into controller synthesis, which paves the way for utilizing numerical optimization tools. We consider the constraints arising from the following sets of static state feedback: (i) The set of all disturbance decoupling controllers; (ii) The set of all disturbance decoupling and stabilizing controllers. To inner approximate these sets by means of matrix equations or inequalities, we provide a unifying review of the relevant results of the geometric control theory. The approximations build on the characterization of controlled invariant subspaces in terms of the solvability of a linear matrix equation (LME) involving the state feedback. The set (i) is inner approximated through the LME associated with any element of an upper semilattice generated by controlled invariant subspaces. The set (ii) is inner approximated through a bilinear matrix inequality (BMI) and the LME associated with any element of a different upper semilattice generated by internally stabilizable controlled invariant subspaces. However, the resulting inner approximations depend on the subspaces chosen from the semilattices. It is shown that a specific (internally stabilizable) self-bounded controlled invariant subspace, which is the best choice regarding eigenvalue assignment, yields the largest inner approximation for both of the sets among (internally stabilizable) self-bounded controlled invariant subspaces. The inner approximations exactly characterize the controller sets under particular structural conditions. We have been driven by two primary motivations in investigating inner approximations for the sets above: (i) Enable the formulation of a variety of equality (and inequality) constrained optimization problems, where cost functions, such as a norm of the state feedback, can be minimized over a large subset of the set of all disturbance decoupling (and stabilizing) controllers; (ii) Introduce the disturbance decoupling constraints to members of the control systems community who might not be quite familiar with the elegant geometric state-space theory, similar to the authors themselves. This can add another dimension to research endeavors in resilient control of networked multi-agent systems.

本文提出了一种基于优化的视角,将干扰解耦约束纳入控制器合成,为利用数值优化工具铺平了道路。我们考虑了以下静态状态反馈集产生的约束:(i) 所有干扰解耦控制器集;(ii) 所有干扰解耦和稳定控制器集。为了通过矩阵方程或不等式对这些集合进行内在近似,我们对几何控制理论的相关结果进行了统一回顾。近似建立在涉及状态反馈的线性矩阵方程(LME)可解性的受控不变子空间特征之上。通过与由受控不变子空间生成的上半格中任何元素相关的 LME,集合 (i) 得到内近似。集合(ii)通过双线性矩阵不等式(BMI)和与由内部稳定的受控不变子空间生成的不同上半格的任何元素相关的 LME 进行内部逼近。然而,由此产生的内近似取决于从半格中选择的子空间。研究表明,一个特定的(内部可稳定的)自约束受控不变子空间是特征值赋值的最佳选择,它能为(内部可稳定的)自约束受控不变子空间中的两个集合产生最大的内近似值。在特定的结构条件下,内近似精确地描述了控制器集的特征。我们研究上述集合的内近似值有两个主要动机:(i) 使各种平等(和不平等)约束优化问题的表述成为可能,在这些问题中,成本函数(如状态反馈的规范)可以在所有扰动解耦(和稳定)控制器集合的一个大子集上最小化;(ii) 向控制系统界的成员介绍扰动解耦约束,他们可能不太熟悉优雅的几何状态空间理论,就像作者自己一样。这将为网络多代理系统弹性控制的研究工作增添新的维度。
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引用次数: 0
Towards wireless communication in control systems of the civil nuclear energy sector 在民用核能领域的控制系统中实现无线通信
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100936
Erwin Jose Lopez Pulgarin , Guido Herrmann , Christine Hollinshead , John May , Kibrom Negash Gebremicael , Diane Daw

The use of wireless communication within the civil nuclear industry can bring many benefits over wired solutions, such as reducing lifecycle costs and enabling new applications in asset and process management. This paper will discuss aspects of wireless communication in industrial control systems, i.e. termed wireless control systems, of the civil nuclear industry. In this respect, we will review previous use of wireless communication in the nuclear industry, and provide the results of a recent feasibility study of wireless communication for an industrial, civil nuclear control system. The studied use case was of an advanced nuclear modular reactor, the Stable Salt Reactor (SSR), and the augmentation of one of its control systems, the refuelling control system, with wireless communication. Hence, in contrast to previous work on wireless control systems, this paper here will focus on the complex and rigorous processes required for regulated safety which have to be followed to allow for wireless control to be implemented in the nuclear civil sector. The following analysis and design procedure was followed: (a) the decision process for choosing the refuelling control system, (b) the review for a suitable communication protocol and technology, the analysis for placement of wireless transceivers for sensors and actuators, (c) the analysis for wireless communication integrity, (d) the basic analysis and guidelines for control system robustness under packet loss, (e) the discussion of possible self-powering options and (f) the safety analysis of the control system under communication failure. Our initial hypothesis is that wireless control systems in Nuclear Applications can improve asset integrity. Control systems can be made more robust and secure to external influences by securely communicating control responses and asset information within a Nuclear Plant. Safety is also improved by reducing the number of operator interactions required for servicing connections, as failures are reduced overall. The removal of power/data harnesses from in-reactor applications can enable faster deployment and replacement of instrumentation for new builds, existing plants and decommissioning.

与有线解决方案相比,在民用核工业中使用无线通信可以带来许多好处,例如降低生命周期成本,以及在资产和流程管理中实现新的应用。本文将讨论民用核工业工业控制系统(即无线控制系统)中无线通信的各个方面。在这方面,我们将回顾以往在核工业中使用无线通信的情况,并提供最近对民用核工业控制系统无线通信可行性研究的结果。所研究的使用案例是一个先进的模块化核反应堆--稳定盐反应堆(SSR),以及用无线通信增强其控制系统之一--换料控制系统。因此,与以往有关无线控制系统的工作不同,本文将重点关注核民用领域实施无线控制所必须遵循的复杂而严格的安全规范程序。分析和设计过程如下(a) 选择加料控制系统的决策过程,(b) 审查合适的通信协议和技术,分析传感器和执行器无线收发器的位置,(c) 分析无线通信的完整性,(d) 在数据包丢失情况下控制系统稳健性的基本分析和准则,(e) 讨论可能的自供电方案,(f) 在通信故障情况下控制系统的安全分析。我们最初的假设是,核应用中的无线控制系统可以提高资产的完整性。通过在核电厂内安全地传递控制响应和资产信息,可以使控制系统更稳健、更安全地抵御外部影响。通过减少维修连接所需的操作员互动次数,安全性能也会得到改善,因为故障总体上会减少。从反应堆内的应用中移除电源/数据线束,可使新建项目、现有工厂和退役项目更快地部署和更换仪表。
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引用次数: 0
Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges 安全关键型自主系统控制器的形式合成:发展与挑战
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100940
Xiang Yin , Bingzhao Gao , Xiao Yu

In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees for complex dynamic systems with intricate interactions between continuous dynamics and discrete logics. This paper provides a comprehensive review of formal controller synthesis techniques for safety-critical autonomous systems. Specifically, we categorize the formal control synthesis problem based on diverse system models, encompassing deterministic, non-deterministic, and stochastic, and various formal safety-critical specifications involving logic, real-time, and real-valued domains. The review covers fundamental formal control synthesis techniques, including abstraction-based approaches and abstraction-free methods. We explore the integration of data-driven synthesis approaches in formal control synthesis. Furthermore, we review formal techniques tailored for multi-agent systems (MAS), with a specific focus on various approaches to address the scalability challenges in large-scale systems. Finally, we discuss some recent trends and highlight research challenges in this area.

近年来,形式化方法被广泛应用于自主系统的设计。通过采用数学上严格的技术,形式化方法可以为连续动态和离散逻辑之间存在复杂交互的复杂动态系统提供可证明安全保证的全自动推理过程。本文全面回顾了用于安全关键型自主系统的形式控制器合成技术。具体来说,我们根据确定性、非确定性和随机性等不同系统模型,以及涉及逻辑、实时和实值域的各种形式化安全关键规范,对形式化控制合成问题进行了分类。综述涵盖了基本的形式控制合成技术,包括基于抽象的方法和无抽象方法。我们探讨了形式控制合成中数据驱动合成方法的集成。此外,我们还综述了为多代理系统(MAS)量身定制的形式化技术,特别关注解决大规模系统中可扩展性挑战的各种方法。最后,我们讨论了该领域的一些最新趋势,并强调了该领域的研究挑战。
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引用次数: 0
Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems 控制障碍函数理论的进展:应对自主系统和机器人系统安全控制合成的实际挑战
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100945
Kunal Garg , James Usevitch , Joseph Breeden , Mitchell Black , Devansh Agrawal , Hardik Parwana , Dimitra Panagou

This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel CBFs and methods that handle safety constraints (i) with time and input constraints under disturbances, (ii) with high-relative degree under disturbances and input constraints, and (iii) that are affected by adversarial inputs and sampled-data effects. We then present novel CBFs and adaptation methods that prevent loss of validity of the CBF, as well as methods to tune the parameters of the CBF online to reduce conservatism in the system response. We also address the pointwise-only optimal character of CBF-induced control inputs by introducing a CBF formulation that accounts for future trajectories, as well as implementation challenges such as how to preserve safety when using output feedback control and zero-order-hold control. Finally we consider how to synthesize non-smooth CBFs when discontinuous inputs and multiple constraints are present.

这篇教程论文介绍了作者的最新研究成果,这些成果扩展了控制障碍函数(CBF)理论,以解决自主系统和机器人安全控制器合成中的实际挑战。我们提出了新颖的 CBF 和方法,用于处理以下安全约束:(i) 在干扰下具有时间和输入约束;(ii) 在干扰和输入约束下具有高相对度;(iii) 受对抗性输入和采样数据影响。然后,我们提出了新的 CBF 和可防止 CBF 失去有效性的适应方法,以及在线调整 CBF 参数以减少系统响应保守性的方法。我们还通过引入一种考虑到未来轨迹的 CBF 方案,解决了 CBF 诱导的控制输入仅具有点状最优特性的问题,并解决了一些实施难题,如在使用输出反馈控制和零阶保持控制时如何保持安全性。最后,我们还考虑了在存在不连续输入和多重约束的情况下,如何合成非光滑的 CBF。
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引用次数: 0
Safety-critical control for autonomous systems: Control barrier functions via reduced-order models 自主系统的安全关键控制:通过简化模型实现控制障碍功能
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100947
Max H. Cohen , Tamas G. Molnar , Aaron D. Ames

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.

现代自主系统(如飞行机器人、腿式机器人和轮式机器人)通常具有高维非线性动力学特征,这给基于模型的安全关键控制设计带来了挑战。受减阶模型在机器人学中取得成功的启发,本文介绍了通过减阶模型和控制障碍函数(CBF)进行建设性安全临界控制的教程。为此,我们对文献中的技术进行了统一表述,这些技术有一个共同的基础,即从简单得多的系统的 CBF 中构建复杂系统的 CBF。我们将通过正式结果、简单的数值示例和实际系统的案例研究来说明这些观点,并在实验中应用了这些技术。
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引用次数: 0
Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints 时空约束下异构多代理系统的协同控制
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100946
Fei Chen, Mayank Sewlia, Dimos V. Dimarogonas

A current trend in research on multi-agent control systems is to consider high-level task specifications that go beyond traditional control objectives and take into account the heterogeneity of each agent in the system, i.e., the different capabilities of the agents in terms of actuation, sensing, communication and computation. This article provides an overview of our work on the problem of control of heterogeneous multi-agent systems under both spatial and temporal constraints as well as our perspective on the challenges and open problems associated with the consideration of such spatiotemporal constraints. Initially, we review a set of control strategies introduced by the authors addressing the satisfaction of cooperative tasks such as formation control as well as individual objectives such as reference tracking. The satisfaction of those objectives is ensured using prescribed performance control. Building upon these approaches we then review recent results on control under high-level spatiotemporal objectives expressed in Signal Temporal Logic, a formal language that allows to express complex spatial tasks that must be satisfied within pre-defined deadlines. Theoretical results considering multi-agent systems with various capabilities under spatiotemporal constraints are presented.

当前多代理控制系统研究的一个趋势是考虑高层次的任务规范,这些规范超越了传统的控制目标,并考虑到了系统中每个代理的异质性,即代理在执行、传感、通信和计算方面的不同能力。本文概述了我们在空间和时间约束条件下异构多代理系统控制问题上所做的工作,以及我们对与考虑此类时空约束条件相关的挑战和未决问题的看法。首先,我们回顾了作者提出的一系列控制策略,这些策略既要满足编队控制等合作任务的要求,又要满足参考跟踪等单个目标的要求。这些目标的满足是通过规定的性能控制来保证的。在这些方法的基础上,我们回顾了最近在高层次时空目标控制方面取得的成果,这些目标是用信号时空逻辑(Signal Temporal Logic)表达的,这种形式语言可以表达必须在预定期限内完成的复杂空间任务。我们还介绍了在时空约束条件下具有各种能力的多机器人系统的理论成果。
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引用次数: 0
Lateral control for autonomous vehicles: A comparative evaluation 自动驾驶汽车横向控制:比较评价
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2023-11-03 DOI: 10.1016/j.arcontrol.2023.100910
Antonio Artuñedo, Marcos Moreno-Gonzalez, Jorge Villagra

The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lacking in the literature. This paper addresses this gap by presenting a systematic evaluation of state-of-the-art model-free and model-based control strategies. The objective is to evaluate and contrast the performance of these controllers across a wide range of driving scenarios, reflecting the diverse needs of autonomous vehicles. To facilitate the comparative analysis, a comprehensive set of performance metrics is selected, encompassing accuracy, robustness, and comfort. The contributions of this research include the design of a systematic tuning methodology, the use of two novel metrics for stability and comfort comparisons and the evaluation through extensive simulations and real tests in an experimental instrumented vehicle over a wide range of trajectories.

选择合适的控制策略对于确保自动驾驶的安全运行至关重要。虽然已经为特定的驾驶场景开发了许多控制策略,但文献中缺乏使用相同调整方法对其性能进行全面的比较评估。本文通过对最先进的无模型和基于模型的控制策略进行系统评估来解决这一差距。目标是评估和对比这些控制器在各种驾驶场景中的性能,反映自动驾驶汽车的不同需求。为了便于比较分析,选择了一套全面的性能指标,包括准确性、稳健性和舒适性。这项研究的贡献包括设计一种系统的调整方法,使用两种新的指标进行稳定性和舒适性比较,以及通过在实验仪器车辆中进行广泛的模拟和实际测试来评估各种轨迹。
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引用次数: 0
A Survey of Feedback Particle Filter and related Controlled Interacting Particle Systems (CIPS) 反馈粒子滤波及相关可控相互作用粒子系统(CIPS)综述
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2023-01-03 DOI: 10.48550/arXiv.2301.00935
A. Taghvaei, P. Mehta
In this survey, we describe controlled interacting particle systems (CIPS) to approximate the solution of the optimal filtering and the optimal control problems. Part I of the survey is focussed on the feedback particle filter (FPF) algorithm, its derivation based on optimal transportation theory, and its relationship to the ensemble Kalman filter (EnKF) and the conventional sequential importance sampling-resampling (SIR) particle filters. The central numerical problem of FPF -- to approximate the solution of the Poisson equation -- is described together with the main solution approaches. An analytical and numerical comparison with the SIR particle filter is given to illustrate the advantages of the CIPS approach. Part II of the survey is focussed on adapting these algorithms for the problem of reinforcement learning. The survey includes several remarks that describe extensions as well as open problems in this subject.
在本文中,我们描述了受控相互作用粒子系统(CIPS)来近似求解最优滤波和最优控制问题。第一部分重点介绍了反馈粒子滤波(FPF)算法及其基于最优输运理论的推导,以及它与集合卡尔曼滤波(EnKF)和传统的顺序重要采样-重采样(SIR)粒子滤波的关系。描述了FPF的核心数值问题——逼近泊松方程的解——以及主要的求解方法。通过与SIR粒子滤波的分析和数值比较,说明了CIPS方法的优越性。调查的第二部分侧重于将这些算法用于强化学习问题。这篇综述包括了一些描述扩展的评论,以及本主题中尚未解决的问题。
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引用次数: 6
Modeling and control of overhead cranes: A tutorial overview and perspectives 桥式起重机的建模和控制:教程概述和观点
IF 9.4 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2023-01-01 DOI: 10.1016/j.arcontrol.2023.03.002
Mohammad Rasool Mojallizadeh , Bernard Brogliato , Christophe Prieur

This article presents a complete review of the modeling and control schemes for overhead cranes operating in 2D and 3D spaces published to date. The modeling schemes including the pendulum-like models with rigid and flexible links are reviewed and their key characteristics are studied. Subsequently, an overview of the control methods developed for such models is presented. Afterward, a new simulation-oriented model enabling to capture both cables’ dynamic and global nonlinearities caused by the pendulation is developed, and different control methods that exist in the literature are evaluated and compared based on this model using numerical experiments. In the end, several research gaps are identified to be considered in future works.

本文全面回顾了迄今为止已发表的在二维和三维空间中运行的桥式起重机的建模和控制方案。文章回顾了包括具有刚性和柔性链接的摆锤模型在内的建模方案,并研究了它们的主要特征。随后,概述了针对此类模型开发的控制方法。随后,开发了一种新的面向仿真的模型,该模型能够捕捉到由摆动引起的缆索动态和全局非线性特性,并基于该模型通过数值实验对文献中存在的不同控制方法进行了评估和比较。最后,确定了未来工作中需要考虑的几项研究空白。
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引用次数: 3
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