发布求助
文献互助 智能选刊 最新文献

arXiv: Systems and Control最新文献

筛选
英文 中文
Random Finite Set Theory and Centralized Control of Large Collaborative Swarms 大型协同蜂群的随机有限集理论与集中控制
arXiv: Systems and Control Pub Date : 2020-11-24 DOI: 10.2514/1.g004861
Bryce Doerr, R. Linares, Pingping Zhu, S. Ferrari
{"title":"Random Finite Set Theory and Centralized Control of Large Collaborative Swarms","authors":"Bryce Doerr, R. Linares, Pingping Zhu, S. Ferrari","doi":"10.2514/1.g004861","DOIUrl":"https://doi.org/10.2514/1.g004861","url":null,"abstract":"Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's configuration. This work generalizes the swarm state using Random Finite Set (RFS) theory and solves a centralized control problem with a Quasi-Newton optimization through the use of Model Predictive Control (MPC) to overcome the aforementioned challenges. This work uses the RFS formulation to control the distribution of agents assuming an unknown or unspecified number of agents. Computationally efficient solutions are also obtained via the MPC version of the Iterative Linear Quadratic Regulator (ILQR), a variant of Differential Dynamic Programming (DDP). Information divergence is used to define the distance between the swarm RFS and the desired swarm configuration through the use of the modified $L_2^2$ distance. Simulation results using MPC and ILQR show that the swarm intensity converges to the desired intensity. Additionally, the RFS control formulation is shown to be very flexible in terms of the number of agents in the swarm and configuration of the desired Gaussian mixtures. Lastly, the ILQR and the Gaussian Mixture Probability Hypothesis Density filter are used in conjunction to solve a spacecraft relative motion problem with imperfect information to show the viability of centralized RFS control for this real-world scenario.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"232 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121000296","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
Average predictive control for nonlinear discrete dynamical systems. 非线性离散动力系统的平均预测控制。
arXiv: Systems and Control Pub Date : 2019-09-25 DOI: 10.25728/ASSA.2020.20.1.775
D. Dmitrishin, I. Iacob, A. Stokolos
{"title":"Average predictive control for nonlinear discrete dynamical systems.","authors":"D. Dmitrishin, I. Iacob, A. Stokolos","doi":"10.25728/ASSA.2020.20.1.775","DOIUrl":"https://doi.org/10.25728/ASSA.2020.20.1.775","url":null,"abstract":"We explore the problem of stabilization of unstable periodic orbits in discrete nonlinear dynamical systems. This work proposes the generalization of predictive control method for resolving the stabilization problem. Our method embodies the development of control method proposed by B.T. Polyak. The control we propose uses a linear (convex) combination of iterated functions. With the proposed method auxiliary, the problem of robust cycle stabilization for various cases of its multipliers localization is solved. An algorithm for finding a given length cycle when its multipliers are known is described as a particular case of our method application. Also, we present numerical simulation results for some well-known mappings and the possibility of further generalization of this method.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116177087","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: 1
Using CMA-ES for tuning coupled PID controllers within models of combustion engines 利用CMA-ES对内燃机模型中的耦合PID控制器进行整定
arXiv: Systems and Control Pub Date : 2016-09-21 DOI: 10.14311/nnw.2019.29.020
Katerina Henclova
{"title":"Using CMA-ES for tuning coupled PID controllers within models of combustion engines","authors":"Katerina Henclova","doi":"10.14311/nnw.2019.29.020","DOIUrl":"https://doi.org/10.14311/nnw.2019.29.020","url":null,"abstract":"Proportional integral derivative (PID) controllers are important and widely used tools in system control. Tuning of the controller gains is a laborious task, especially for complex systems such as combustion engines. To minimize the time of an engineer for tuning of the gains in a simulation software, we propose to formulate a part of the problem as a black-box optimization task. In this paper, we summarize the properties and practical limitations of tuning of the gains in this particular application. We investigate the latest methods of black-box optimization and conclude that the Covariance Matrix Adaptation Evolution Strategy (CMA-ES) with bi-population restart strategy, elitist parent selection and active covariance matrix adaptation is best suited for this task. Details of the algorithm's experiment-based calibration are explained as well as derivation of a suitable objective function. The method's performance is compared with that of PSO and SHADE. Finally, its usability is verified on six models of real engines.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114362139","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
Robust $H_infty$ Coherent-Classical Estimation. 稳健$H_infty$相干-经典估计。
arXiv: Systems and Control Pub Date : 2016-05-24 DOI: 10.1109/AUCC.2016.7868220
Shibdas Roy, I. Petersen
{"title":"Robust $H_infty$ Coherent-Classical Estimation.","authors":"Shibdas Roy, I. Petersen","doi":"10.1109/AUCC.2016.7868220","DOIUrl":"https://doi.org/10.1109/AUCC.2016.7868220","url":null,"abstract":"We study robust $H_infty$ coherent-classical estimation for a class of physically realizable linear quantum systems with parameter uncertainties. Such a robust coherent-classical estimator, with or without coherent feedback, can yield better disturbance-to-error performance than the corresponding robust purely-classical estimator for an uncertain plant. Moreover, coherent feedback allows for such a robust coherent-classical estimator to be more robust to uncertainty in comparison to the robust classical-only estimator.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116795338","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
Online Combinatorial Optimization for Interconnected Refrigeration Systems: Linear Approximation and Submodularity 互联制冷系统的在线组合优化:线性逼近和亚模块化
arXiv: Systems and Control Pub Date : 2016-04-23 DOI: 10.1016/J.IFACOL.2017.08.1481
Insoon Yang
{"title":"Online Combinatorial Optimization for Interconnected Refrigeration Systems: Linear Approximation and Submodularity","authors":"Insoon Yang","doi":"10.1016/J.IFACOL.2017.08.1481","DOIUrl":"https://doi.org/10.1016/J.IFACOL.2017.08.1481","url":null,"abstract":"","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123023460","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
The $ε$-capacity of a gain matrix and tolerable disturbances: Discrete-time perturbed linear systems. 增益矩阵的ε容量与可容忍扰动:离散时间摄动线性系统。
arXiv: Systems and Control Pub Date : 2015-06-11 DOI: 10.6084/M9.FIGSHARE.1445954.V1
Journals Iosr, O.Zakary, M.Rachik
{"title":"The $ε$-capacity of a gain matrix and tolerable disturbances: Discrete-time perturbed linear systems.","authors":"Journals Iosr, O.Zakary, M.Rachik","doi":"10.6084/M9.FIGSHARE.1445954.V1","DOIUrl":"https://doi.org/10.6084/M9.FIGSHARE.1445954.V1","url":null,"abstract":"Discrete-time linear systems with perturbed initial state are considered. A disturbance that infects the initial state is said to be $epsilon$-tolerable if the corresponding output signal is relatively insensitive to their effects. In this paper, we will define a new set that characterize each gain matrix K and the associated feedback control law ui=Kxi, this set will be called the $epsilon$-capacity of the gain matrix K. The set of all possible gain matrix that makes the system insensitive to all disturbances is noted $Phicdot$. The characterization of $Phicdot$ is investigated, and we propose an algorithmic approach that allows to determine if a control law is belongs to $Phicdot$ or not. Numerical simulations are given.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"335 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115878176","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: 1
Proceedings Third International Workshop on Hybrid Autonomous Systems 第三届混合自主系统国际研讨会论文集
arXiv: Systems and Control Pub Date : 2013-08-22 DOI: 10.4204/EPTCS.124
L. Bortolussi, Manuela L. Bujorianu, G. Pola
{"title":"Proceedings Third International Workshop on Hybrid Autonomous Systems","authors":"L. Bortolussi, Manuela L. Bujorianu, G. Pola","doi":"10.4204/EPTCS.124","DOIUrl":"https://doi.org/10.4204/EPTCS.124","url":null,"abstract":"The interest on autonomous systems is increasing both in industry and academia. Such systems must operate with limited human intervention in a changing environment and must be able to compensate for significant system failures without external intervention. The most appropriate models of autonomous systems can be found in the class of hybrid systems (which study continuous-state dynamic processes via discrete-state controllers) that interact with their environment. This workshop brings together researchers interested in all aspects of autonomy and resilience of hybrid systems.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114985089","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: 1
Stability of a Stochastic Model for Demand-Response 需求-响应随机模型的稳定性
arXiv: Systems and Control Pub Date : 2010-11-25 DOI: 10.1214/11-SSY048
J. Boudec, Dan-Cristian Tomozei
{"title":"Stability of a Stochastic Model for Demand-Response","authors":"J. Boudec, Dan-Cristian Tomozei","doi":"10.1214/11-SSY048","DOIUrl":"https://doi.org/10.1214/11-SSY048","url":null,"abstract":"We study the stability of a Markovian model of electricity production and consumption that incorporates production volatility due to renewables and uncertainty about actual demand versus planned production. We assume that the energy producer targets a fixed energy reserve, subject to ramp-up and ramp-down constraints, and that appliances are subject to demand-response signals and adjust their consumption to the available production by delaying their demand. When a constant fraction of the delayed demand vanishes over time, we show that the general state Markov chain characterizing the system is positive Harris and ergodic (i.e., delayed demand is bounded with high probability). However, when delayed demand increases by a constant fraction over time, we show that the Markov chain is non-positive (i.e., there exists a non-zero probability that delayed demand becomes unbounded). We exhibit Lyapunov functions to prove our claims. In addition, we provide examples of heating appliances that, when delayed, have energy requirements corresponding to the two considered cases.","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116846343","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
Modellierung und Regelung von modernen Windkraftanlagen: Eine Einführung 建立现代风力涡轮机的模拟与调节:引入
arXiv: Systems and Control Pub Date : 1900-01-01 DOI: 10.1007/978-3-642-30096-7_24
Christian Dirscherl, C. Hackl, Korbinian Schechner
{"title":"Modellierung und Regelung von modernen Windkraftanlagen: Eine Einführung","authors":"Christian Dirscherl, C. Hackl, Korbinian Schechner","doi":"10.1007/978-3-642-30096-7_24","DOIUrl":"https://doi.org/10.1007/978-3-642-30096-7_24","url":null,"abstract":"","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124859275","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: 61
Graphical Models and Belief Propagation Hierarchy for Physics-Constrained Network Flows 物理约束网络流的图形模型和信念传播层次
arXiv: Systems and Control Pub Date : 1900-01-01 DOI: 10.1007/978-1-4939-7822-9_10
M. Chertkov, Sidhant Misra, Marc Vuffray, Dvijotham Krishnamurthy, Pascal Van Hentenryck
{"title":"Graphical Models and Belief Propagation Hierarchy for Physics-Constrained Network Flows","authors":"M. Chertkov, Sidhant Misra, Marc Vuffray, Dvijotham Krishnamurthy, Pascal Van Hentenryck","doi":"10.1007/978-1-4939-7822-9_10","DOIUrl":"https://doi.org/10.1007/978-1-4939-7822-9_10","url":null,"abstract":"","PeriodicalId":265389,"journal":{"name":"arXiv: Systems and Control","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114984432","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
下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信