{"title":"Learning-Based Control: A Tutorial and Some Recent Results","authors":"Zhong-Ping Jiang, T. Bian, Weinan Gao","doi":"10.1561/2600000023","DOIUrl":"https://doi.org/10.1561/2600000023","url":null,"abstract":"The recent success of Reinforcement Learning and related methods can be attributed to several key factors. First, it is driven by reward signals obtained through the interaction with the environment. Second, it is closely related to the human learning behavior. Third, it has a solid mathematical foundation. Nonetheless, conventional Reinforcement Learning theory exhibits some shortcomings particularly in a continuous environment or in considering the stability and robustness of the controlled process. In this monograph, the authors build on Reinforcement Learning to present a learning-based approach for controlling dynamical systems from real-time data and review some major developments in this relatively young field. In doing so the authors develop a framework for learning-based control theory that shows how to learn directly suboptimal controllers from input-output data. There are three main challenges on the development of learning-based control. First, there is a need to generalize existing recursive methods. Second, as a fundamental difference between learning-based control and Reinforcement Learning, stability and robustness are important issues that must be addressed for the safety-critical engineering systems such as self-driving cars. Third, data efficiency of Reinforcement Learning algorithms need be addressed for safety-critical engineering systems. This monograph provides the reader with an accessible primer on a new direction in control theory still in its infancy, namely Learning-Based Control Theory, that is closely tied to the literature of safe Reinforcement Learning and Adaptive Dynamic Programming.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127415957","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}
{"title":"Resilient Control in Cyber-Physical Systems: Countering Uncertainty, Constraints, and Adversarial Behavior","authors":"Sean Weerakkody, Omur Ozel, Yilin Mo, B. Sinopoli","doi":"10.1561/2600000018","DOIUrl":"https://doi.org/10.1561/2600000018","url":null,"abstract":"Resilient Control in Cyber-Physical Systems: Countering Uncertainty, Constraints, and Adversarial Behavior","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129603909","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}
{"title":"On the Control of Multi-Agent Systems: A Survey","authors":"Fei Chen, W. Ren","doi":"10.1561/2600000019","DOIUrl":"https://doi.org/10.1561/2600000019","url":null,"abstract":"Multi-Agent Systems (MAS) use networked multiple autonomous agents to accomplish complex tasks in areas such as space-based applications, smart grids, and machine learning. The overall system goal is achieved using local interactions among the agents. The last two decades have witnessed rapid development of MASs in automatic control. Tracing the roots of such systems back more than 50 years, this monograph provides the reader with an in-depth and comprehensive survey of the research in Multi-Agent Systems. The focus is on the research conducted in the two decades. It introduces the basic concepts and definitions to the reader before going on to describe how MAS has been used in most forms of systems. The monograph offers a concise reference for understanding the use of MASs and the contemporary research issues for further investigation. In addition to covering the basic theory, the authors also cover applications in multi-robot systems, sensor networks, smart grid, machine learning, social networks, and many-core microprocessors. On the Control of Multi-Agent Systems provides researchers and students in systems and control a modern, comprehensive survey of one of the most important current day topics.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130177924","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}
{"title":"Distributed Optimization for Smart Cyber-Physical Networks","authors":"G. Notarstefano, Ivano Notarnicola, Andrea Camisa","doi":"10.1561/2600000020","DOIUrl":"https://doi.org/10.1561/2600000020","url":null,"abstract":"The presence of embedded electronics and communication capabilities as well as sensing and control in smart devices has given rise to the novel concept of cyber-physical networks, in which agents aim at cooperatively solving complex tasks by local computation and communication. Numerous estimation, learning, decision and control tasks in smart networks involve the solution of large-scale, structured optimization problems in which network agents have only a partial knowledge of the whole problem. Distributed optimization aims at designing local computation and communication rules for the network processors allowing them to cooperatively solve the global optimization problem without relying on any central unit. The purpose of this survey is to provide an introduction to distributed optimization methodologies. Principal approaches, namely (primal) consensus-based, duality-based and constraint exchange methods, are formalized. An analysis of the basic schemes is supplied, and state-of-the-art extensions are reviewed.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116074923","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}
C. Prieur, I. Queinnec, S. Tarbouriech, L. Zaccarian
{"title":"Analysis and Synthesis of Reset Control Systems","authors":"C. Prieur, I. Queinnec, S. Tarbouriech, L. Zaccarian","doi":"10.1561/2600000017","DOIUrl":"https://doi.org/10.1561/2600000017","url":null,"abstract":"This survey monograph overviews a large core of research results produced by the authors in the past decade about reset controllers for linear and nonlinear plants. The corresponding feedback laws generalize classical dynamic controllers because of the interplay of mixed continuous/discrete dynamics. The obtained closed-loop system falls then within the category of hybrid dynamical systems, with the specific feature that the hybrid nature arises from the nature of the controller, rather than the nature of the plant, which is purely continuous-time. Due to this fact, the presented results focus on performance and stability notions that prioritize continuous-time evolution as compared to the discrete-time one. Dwell-time logics (namely, conditions preventing consecutive jumps that are too close to each other) are indeed enforced on solutions, to ensure that the continuous evolution of solutions is complete (no Zeno solutions occur). \u0000 \u0000After presenting a historical motivation and an overview of the results on this topic in Part I, several results on stability and performance analysis and on control design for general linear continuous-time plants are developed in Part II. These results are developed by exploiting the well-established formalism for nonlinear hybrid dynamical systems introduced by Andy Teel and co-authors around 2004. With this formalism, by ensuring sufficient regularity of the reset controller dynamics, we ensure robustness of stability with respect to small disturbances and uncertainties together with suitable continuity of solutions, generally regarded as well-posedness of the hybrid closed loop. Throughout Part II, we provide several simulation studies showing that reset control strategies may allow to attain better performance with respect to the optimal ones obtained by classical continuous-time controllers. \u0000 \u0000Finally, in Part III we focus on planar systems, that is reset closed loops involving a one-dimensional linear plant and a one-dimensional reset controller. For this simple interconnection interesting stability conditions can be drawn and relevant extensions addressing the reference tracking problem are introduced, illustrating them on a few relevant case studies emerging in the automotive field.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"122 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133158732","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}
L. Hardouin, Bertrand Cottenceau, Y. Shang, J. Raisch
{"title":"Control and State Estimation for Max-Plus Linear Systems","authors":"L. Hardouin, Bertrand Cottenceau, Y. Shang, J. Raisch","doi":"10.1561/2600000013","DOIUrl":"https://doi.org/10.1561/2600000013","url":null,"abstract":"Book Abstract: \u0000Max-plus linear systems theory was inspired by and originated from classical linear systems theory more than three decades ago, with the purpose of dealing with nonlinear synchronization and delay phenomena in timed discrete event systems in a linear manner. Timed discrete event systems describe many problems in diverse areas such as manufacturing, communication, or transportation networks. This monograph provides a thorough survey of current research work in max-plus linear systems. It summarizes the main mathematical concepts required for a theory of max-plus linear systems, including idempotent semirings, residuation theory, fixed point equations in the max-plus algebra, formal power series, and timed-event graphs. The authors also review some recent major achievements in control and state estimation of max-plus linear systems. These include max-plus observer design, max-plus model matching by output or state feedback and observer-based control synthesis. Control and State Estimation for Max-Plus Linear Systems offers students, practitioners, and researchers an accessible and comprehensive overview of the most important recent work in max-plus Linear Systems.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126711779","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}
{"title":"Economic Model Predictive Control: Handling Valve Actuator Dynamics and Process Equipment Considerations","authors":"Helen Durand, P. Christofides","doi":"10.1561/2600000015","DOIUrl":"https://doi.org/10.1561/2600000015","url":null,"abstract":"Economic Model Predictive Control: Handling Valve Actuator Dynamics and Process Equipment Considerations","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116813658","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}
{"title":"Economic Nonlinear Model Predictive Control","authors":"T. Faulwasser, L. Grüne, M. Müller","doi":"10.1561/2600000014","DOIUrl":"https://doi.org/10.1561/2600000014","url":null,"abstract":"In recent years, Economic Model Predictive Control (empc) has received considerable attention of many research groups. The present tutorial survey summarizes state-of-the-art approaches in empc. In this context empc is to be understood as receding-horizon optimal control with a stage cost that does not simply penalize the distance to a desired equilibrium but encodes more sophisticated economic objectives. This survey provides a comprehensive overview of empc stability results: with and without terminal constraints, with and without dissipativtiy assumptions, with averaged constraints, formulations with multiple objectives and generalized terminal constraints as well as Lyapunov-based approaches. Moreover, we compare different performance criteria for some of the considered approaches and comment on the connections to recent research on dissipativity of optimal control problems. We consider a discrete-time setting and point towards continuous-time variants. We illustrate the different empc schemes with several examples.","PeriodicalId":306000,"journal":{"name":"Found. Trends Syst. Control.","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129073319","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}
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