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2016 IEEE 55th Conference on Decision and Control (CDC)最新文献

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Dynamic algorithms for solving coupled algebraic Riccati equations arising in mixed H2=H∞ control for scalar linear systems 纯量线性系统混合H2=H∞控制中耦合代数Riccati方程的动态求解算法
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7798343
T. Mylvaganam, A. Astolfi
{"title":"Dynamic algorithms for solving coupled algebraic Riccati equations arising in mixed H2=H∞ control for scalar linear systems","authors":"T. Mylvaganam, A. Astolfi","doi":"10.1109/CDC.2016.7798343","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798343","url":null,"abstract":"The problem of mixed H2/H∞ control can be formulated as a two-player nonzero-sum differential game as done by Limebeer et al. in the 1990s. For linear systems the problem is characterised by two coupled algebraic Riccati equations. Solutions for such algebraic Riccati equations are not straight-forward to obtain, particularly for infinite-horizon problems. In this paper two algorithms for obtaining solutions for the coupled algebraic Riccati equations associated with the mixed H2/H∞ control problem for scalar, linear systems is provided along with illustrative numerical examples.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122790187","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}
引用次数: 4
Robust sliding mode observer design for interconnected systems 互联系统鲁棒滑模观测器设计
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7799230
Mokhtar Mohamed, Xing-gang Yan, S. Spurgeon, B. Jiang
{"title":"Robust sliding mode observer design for interconnected systems","authors":"Mokhtar Mohamed, Xing-gang Yan, S. Spurgeon, B. Jiang","doi":"10.1109/CDC.2016.7799230","DOIUrl":"https://doi.org/10.1109/CDC.2016.7799230","url":null,"abstract":"In this paper, a class of nonlinear interconnected systems is considered in the presence of structured and unstructured uncertainties. The bounds on the uncertainties are nonlinear and are employed in the observer design to reject the effect of the uncertainties. Under the condition that the structure matrices of the uncertainties are known, a robust sliding mode observer is designed and a set of sufficient conditions is developed such that the error dynamics are asymptotically stable. If the structure of the uncertainties is unknown, an untimately bounded observer is developed using sliding mode techniques. The obtained results are applied to a multimachine power system to demonstrate the effectiveness of the developed methods.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123873347","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}
引用次数: 7
LQG control for systems with random unbounded communication delay 随机无界通信延迟系统的LQG控制
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7798406
F. Bengtsson, B. Hassibi, T. Wik
{"title":"LQG control for systems with random unbounded communication delay","authors":"F. Bengtsson, B. Hassibi, T. Wik","doi":"10.1109/CDC.2016.7798406","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798406","url":null,"abstract":"In this paper LQG control over unreliable communication links is examined. That is to say, the communication channels between the controller and the actuators and between the sensors and the controller are unreliable. This is of growing importance as networked control systems and use of wireless communication in control are becoming increasingly common. A proposed approach is to use tree codes to turn lossy channels into ones with a random delay. The problem of how to optimize LQG control in this case is examined, and it is found that to optimize LQG control previous control signals must also be used. Only the situation where communication between the components is done with acknowledgments is examined. An optimal solution is derived for finite horizon discrete hold-input LQG control for this case. The solution is compared with standard LQG control in simulations, which demonstrate that a significant improvement in the cost can be achieved when the probability of delay is high.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131503472","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}
引用次数: 2
Characterization of a CUSUM model-based sensor attack detector 基于CUSUM模型的传感器攻击检测器的表征
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7798446
C. Murguia, Justin Ruths
{"title":"Characterization of a CUSUM model-based sensor attack detector","authors":"C. Murguia, Justin Ruths","doi":"10.1109/CDC.2016.7798446","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798446","url":null,"abstract":"In the context of sensor attacks on linear time-invariant cyber-physical systems, we propose a model-based cumulative sum (CUSUM) procedure for identifying falsified sensor measurements. To fulfill a desired detection performance-given the system dynamics, control and estimation schemes, and noise statistics-we derive tools for designing and tuning the CUSUM procedure. We characterize the state degradation that a stealthy attacker can induce to the system while remaining undetected by the detection procedure. Moreover, we quantify the advantage of using a dynamic detector (CUSUM), which leverages the history of the state, over a static detector (Bad-Data) which uses a single measurement at a time. Simulation experiments are presented to illustrate the performance of the detection scheme.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122821333","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}
引用次数: 65
Decentralised sliding mode control for nonlinear interconnected systems in the regular form 正则型非线性互联系统的分散滑模控制
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7799262
J. Mu, Xing-gang Yan, S. Spurgeon, Zehui Mao
{"title":"Decentralised sliding mode control for nonlinear interconnected systems in the regular form","authors":"J. Mu, Xing-gang Yan, S. Spurgeon, Zehui Mao","doi":"10.1109/CDC.2016.7799262","DOIUrl":"https://doi.org/10.1109/CDC.2016.7799262","url":null,"abstract":"In this paper, a decentralised control strategy based on sliding mode techniques is proposed for a class of nonlinear interconnected systems in regular form. All the isolated subsystems and interconnections are fully nonlinear. It is not required that the nominal isolated subsystems are either linearizable or partially linearizable. The uncertainties are nonlinear and bounded by nonlinear functions. Specifically, uncertainties in the input distribution and interconnections are considered. Under mild conditions, sliding mode controllers for each subsystem are designed by only employing local information. Sufficient conditions are developed under which information on the interconnections is employed for decentralised controller design to reduce conservatism. The bounds on the uncertainties have more general forms compared with previous work. A simulation example is used to demonstrate the effectiveness of the proposed method.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127384264","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}
引用次数: 2
LQ vs. ℓ∞ in controller design for systems with delay and quantization LQ与l∞在时滞与量化系统控制器设计中的关系
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7798619
Yorie Nakahira
{"title":"LQ vs. ℓ∞ in controller design for systems with delay and quantization","authors":"Yorie Nakahira","doi":"10.1109/CDC.2016.7798619","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798619","url":null,"abstract":"The normal operation of many cyberphysical, biological, and neural systems fit naturally with robust control, with key variables like lane positions, voltages, temperatures, blood pressures, etc maintained within tight bounds despite diverse uncertainties. However, two challenges in particularly need further theory that this paper addresses. One is that control is distributed with communication having limits on bandwidth and delay. Another is that normal operations can be disrupted and bounds violated, but it is desirable to make such acute situations rare and recoverable without crashing. We take the simplest model that has both normal and acute modes with bandwidth and delay constraints, and focus on two relatively extreme but familiar starting points: i) average case LQG (or ℋ2) and ii) worst case ℓ1 control with ℓ∞ signal bounds. Both have strengths and weaknesses that we highlight, and this leads naturally to a win-win hybrid scheme that has better performance than either alone, with relatively modest computational costs.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133791927","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}
引用次数: 8
2½-player generalized reactivity (1) games 2½玩家广义反应(1)博弈
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7799347
Natalia Rodríguez, V. Braberman, Nicolás D'Ippolito, Sebastián Uchitel
{"title":"2½-player generalized reactivity (1) games","authors":"Natalia Rodríguez, V. Braberman, Nicolás D'Ippolito, Sebastián Uchitel","doi":"10.1109/CDC.2016.7799347","DOIUrl":"https://doi.org/10.1109/CDC.2016.7799347","url":null,"abstract":"We introduce a new class of 2½-player games, the 2½-player GR(1) games, that allows for solving problems of stochastic nature by adding a probabilistic component to simple 2-player GR(1) games. Further, we present an efficient approach for solving qualitative 2½-player GR(1) games with polynomial-time complexity. Our approach is based on a reduction from 2½-player GR(1) games to 2-player GR(1) games that allows for solving the game and constructing, from a sure winning strategy for player □ (resp. □) in a 2-player GR(1) game, an almost-sure (resp. positively) winning strategy for its corresponding 2½-player GR(1) game. Key to the effectiveness of the proposed approach is the fact that the reduction generates a 2-player game that is linearly larger than the original 2½-player game, more precisely, it is linear with respect to the number of probabilistic states in the 2½-player GR(1) game.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123827353","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}
引用次数: 0
Robust optimal policies for Markov decision processes with safety-threshold constraints 安全阈值约束下马尔可夫决策过程的鲁棒最优策略
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7799360
Rayna Dimitrova, Jie Fu, U. Topcu
{"title":"Robust optimal policies for Markov decision processes with safety-threshold constraints","authors":"Rayna Dimitrova, Jie Fu, U. Topcu","doi":"10.1109/CDC.2016.7799360","DOIUrl":"https://doi.org/10.1109/CDC.2016.7799360","url":null,"abstract":"We study the synthesis of robust optimal control policies for Markov decision processes with transition uncertainty (UMDPs) and subject to two types of constraints: (i) constraints on the worst-case, maximal total cost and (ii) safety-threshold constraints that bound the worst-case probability of visiting a set of error states. For maximal total cost constraints, we propose a state-augmentation method and a two-step synthesis algorithm to generate deterministic, memoryless optimal policies given the reward to be maximized. For safety threshold constraints, we introduce a new cost function and provide an approximately optimal solution by a reduction to an uncertain Markov decision process under a maximal total cost constraint. The safety-threshold constraints require memory and randomization for optimality. We discuss the use and the limitations of the proposed solution.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125174762","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}
引用次数: 5
Distributed adaptive optimization and control of network structures 网络结构的分布式自适应优化与控制
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7799167
L. Kempton, G. Herrmann, M. Bernardo
{"title":"Distributed adaptive optimization and control of network structures","authors":"L. Kempton, G. Herrmann, M. Bernardo","doi":"10.1109/CDC.2016.7799167","DOIUrl":"https://doi.org/10.1109/CDC.2016.7799167","url":null,"abstract":"In this paper we present a generic distributed weight adaptation framework to optimize some network observables of interest. We focus on the algebraic connectivity λ<sub>n</sub>, the spectral radius λ<sub>n</sub>, the synchronizability λ<sub>n</sub>/λ<sub>2</sub>, or the total effective graph resistance ω of undirected weighted networks, and describe distributed systems for the estimation of these functions and their derivatives for on-line adaptation of the edge weights.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130762956","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}
引用次数: 3
Consensus speed optimisation with finite leadership perturbation in k-nearest neighbour networks 具有有限领导扰动的k近邻网络的一致速度优化
2016 IEEE 55th Conference on Decision and Control (CDC) Pub Date : 2016-12-29 DOI: 10.1109/CDC.2016.7798378
Ruaridh A. Clark, G. Punzo, M. Macdonald
{"title":"Consensus speed optimisation with finite leadership perturbation in k-nearest neighbour networks","authors":"Ruaridh A. Clark, G. Punzo, M. Macdonald","doi":"10.1109/CDC.2016.7798378","DOIUrl":"https://doi.org/10.1109/CDC.2016.7798378","url":null,"abstract":"Near-optimal convergence speeds are found for perturbed networked systems, with N interacting agents that conform to k-nearest neighbour (k-NNR) connection rules, by allocating a finite leadership resource amongst selected nodes. These nodes continue averaging their state with that of their neighbours while being provided with the resources to drive the network to a new state. Such systems are represented by a directed graph Laplacian with two newly presented semi-analytical approaches used to maximise the consensus speed. The two methods developed typically produce near-optimal results and are highly efficient when compared with conventional numerical optimisation, where the asymptotic computational complexity is O(n3) and O(n4) respectively. The upper limit for the convergence speed of a perturbed k-NNR network is identified as the largest element of the first left eigenvector (FLE) of a graph's adjacency matrix. The first semi-analytical method exploits this knowledge by distributing leadership resources amongst the most prominent nodes highlighted by this FLE. The second method relies on the FLEs of manipulated versions of the adjacency matrix to expose different communities of influential nodes. These are shown to correspond with the communities found by the Leicht-Newman detection algorithm, with this method enabling optimal leadership selection even in low outdegree (<; 12 connections) graphs, where the first semi-analytical method is less effective.","PeriodicalId":183381,"journal":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-12-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123576708","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}
引用次数: 6
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