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Robust Linear Quadratic Regulation Over Polytopic Time-Inhomogeneous Markovian Channels Under Generalized Packet Dropout Compensation
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521656
Yuriy Zacchia Lun;Fortunato Santucci;Alessandro D’Innocenzo
{"title":"Robust Linear Quadratic Regulation Over Polytopic Time-Inhomogeneous Markovian Channels Under Generalized Packet Dropout Compensation","authors":"Yuriy Zacchia Lun;Fortunato Santucci;Alessandro D’Innocenzo","doi":"10.1109/LCSYS.2024.3521656","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521656","url":null,"abstract":"This letter addresses a fundamental issue of time-varying parametric uncertainty affecting unreliable communication links that convey the control commands to actuators in wireless networked control systems. It introduces the polytopic time-inhomogeneous finite-state Markov channel model to account for significant changes in possible propagation channel characteristics and analytically solves the linear quadratic regulation problem under the generalized packet dropout compensation. An example validating the results is presented.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3315-3320"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10812755","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143184225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Safety Verification of Discrete-Time Systems via Interpolation-Inspired Barrier Certificates 基于插值启发屏障证书的离散时间系统安全验证
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521356
Mohammed Adib Oumer;Vishnu Murali;Ashutosh Trivedi;Majid Zamani
{"title":"Safety Verification of Discrete-Time Systems via Interpolation-Inspired Barrier Certificates","authors":"Mohammed Adib Oumer;Vishnu Murali;Ashutosh Trivedi;Majid Zamani","doi":"10.1109/LCSYS.2024.3521356","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521356","url":null,"abstract":"Barrier certificates provide an effective automated approach to verifying the safety of dynamical systems. A barrier certificate is a real-valued function over states of the system whose zero level set separates the unsafe region from all possible trajectories starting from a given set of initial states. Typically, the system dynamics must be nonincreasing in the value of the barrier certificate with each transition. Thus, the states of the system that are nonpositive with respect to the barrier certificate act as an over-approximation of the reachable states. The search for such certificates is typically automated by first fixing a template of functions and then using optimization and satisfiability modulo theory (SMT) solvers to find them. Unfortunately, it may not be possible to find a single function in this fixed template. To tackle this challenge, we propose the notion of interpolation-inspired barrier certificate. Instead of a single function, an interpolation-inspired barrier certificate consists of a set of functions such that the union of their sublevel sets over-approximate the reachable set of states. We show how one may find interpolation-inspired barrier certificates of a fixed template, even when we fail to find standard barrier certificates of the same template. We present sum-of-squares (SOS) programming as a computational method to find this set of functions and demonstrate effectiveness of this method over a case study.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3183-3188"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938054","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
Design of Distributed Controller for Discrete-Time Systems via the Integration of Extended LMI and Clique-Wise Decomposition 基于扩展LMI和团明智之举分解的离散系统分布式控制器设计
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521190
Sotaro Fushimi;Yuto Watanabe;Kazunori Sakurama
{"title":"Design of Distributed Controller for Discrete-Time Systems via the Integration of Extended LMI and Clique-Wise Decomposition","authors":"Sotaro Fushimi;Yuto Watanabe;Kazunori Sakurama","doi":"10.1109/LCSYS.2024.3521190","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521190","url":null,"abstract":"This letter addresses the centralized synthesis of distributed controllers using linear matrix inequalities (LMIs). Sparsity constraints on control gains of distributed controllers result in conservatism via the convexification of the existing methods such as the extended LMI method. In order to mitigate the conservatism, we introduce a novel LMI formulation for this problem, utilizing the clique-wise decomposition method from our previous work on continuous-time systems. By reformulating the sparsity constraint on the gain matrix within cliques, this method achieves a broader solution set. Also, the analytical superiority of our method is confirmed through numerical examples.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3171-3176"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10812014","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Tutorial Problems for Nonsmooth Dynamics and Optimal Control: Ski Jumping and Accelerating a Bike Without Pedaling 非光滑动力学和最优控制的教程问题：跳台滑雪和不踩踏板加速自行车
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521556
Julian Golembiewski;Timm Faulwasser
{"title":"Tutorial Problems for Nonsmooth Dynamics and Optimal Control: Ski Jumping and Accelerating a Bike Without Pedaling","authors":"Julian Golembiewski;Timm Faulwasser","doi":"10.1109/LCSYS.2024.3521556","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521556","url":null,"abstract":"Nonsmooth phenomena, such as abrupt changes, impacts, and switching behaviors, frequently arise in real-world systems and present significant challenges for traditional optimal control methods, which typically assume smoothness and differentiability. These phenomena introduce numerical challenges in both simulation and optimization, highlighting the need for specialized solution methods. Although various applications and test problems have been documented in the literature, many are either overly simplified, excessively complex, or narrowly focused on specific domains. On this canvas, this letter proposes two novel tutorial problems that are both conceptually accessible and allow for further scaling of problem difficulty. The first problem features a simple ski jump model, characterized by state-dependent jumps and sliding motion on impact surfaces. This system does not involve control inputs and serves as a testbed for simulating nonsmooth dynamics. The second problem considers optimal control of a special type of bicycle model. This problem is inspired by practical techniques observed in BMX riding and mountain biking, where riders accelerate their bike without pedaling by strategically shifting their center of mass in response to the track’s slope.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3291-3296"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142976169","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
Novel Iteratively Preconditioned Gradient-Descent Algorithm via Successive Over-Relaxation Formulation 基于逐次过松弛公式的迭代预条件梯度下降算法
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521673
Tianchen Liu;Kushal Chakrabarti;Nikhil Chopra
{"title":"Novel Iteratively Preconditioned Gradient-Descent Algorithm via Successive Over-Relaxation Formulation","authors":"Tianchen Liu;Kushal Chakrabarti;Nikhil Chopra","doi":"10.1109/LCSYS.2024.3521673","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521673","url":null,"abstract":"We devise a novel quasi-Newton algorithm for solving unconstrained convex optimization problems. The proposed algorithm is built on our previous framework of the iteratively preconditioned gradient-descent (IPG) algorithm. IPG utilized Richardson iteration to update a preconditioner matrix that approximates the inverse of the Hessian matrix. In this letter, we substitute the Richardson iteration with a successive over-relaxation (SOR) formulation. The convergence guarantee of the proposed algorithm and its theoretical improvement over vanilla IPG are presented. The algorithm is used in a mobile robot position estimation problem for numerical validation using a moving horizon estimation (MHE) formulation. Compared with IPG, the results demonstrate an improved performance of the proposed algorithm in terms of computational time and the number of iterations needed for convergence, matching our theoretical results.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3105-3110"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962846","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
An Optimal Control Approach for Enhancing Efficiency in Renewable Energy Communities 提高可再生能源社区效率的最优控制方法
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521193
Emanuele Musicò;Camilla Ancona;Francesco Lo Iudice;Luigi Glielmo
{"title":"An Optimal Control Approach for Enhancing Efficiency in Renewable Energy Communities","authors":"Emanuele Musicò;Camilla Ancona;Francesco Lo Iudice;Luigi Glielmo","doi":"10.1109/LCSYS.2024.3521193","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521193","url":null,"abstract":"Energy storage systems are key to take advantage of the potential of renewable energy. Renewable energy communities endowed with a Shared Battery Energy Storage System (SBESS) have been proposed as a key factor to efficiently exploit distributed renewable generation. However, ensuring renewable energy communities are not only environmentally friendly but also cost-effective requires that their SBESS be optimally managed. In this letter we cast the problem of optimally managing a SBESS in an energy community as the problem of minimizing the sum of the daily energy bills of the community. Then, under mild assumptions, we rigorously show that solving this optimal control problem over an horizon of N days is equivalent to sequentially solving N optimization problems over a single day. Our theoretical results are compounded by numerical simulations on a real dataset of Australian households’ demand and generation.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3039-3044"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10811985","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed Optimal Cooperative Tracking Control of Multi-Input LTI Systems: An Information Fusion-Based Learning Approach 多输入LTI系统的分布式最优协同跟踪控制：一种基于信息融合的学习方法
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520917
Yunxiao Ren;Dingguo Liang;Silong Wang;Tao Xu;Yuezu Lv
{"title":"Distributed Optimal Cooperative Tracking Control of Multi-Input LTI Systems: An Information Fusion-Based Learning Approach","authors":"Yunxiao Ren;Dingguo Liang;Silong Wang;Tao Xu;Yuezu Lv","doi":"10.1109/LCSYS.2024.3520917","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520917","url":null,"abstract":"This letter investigates the distributed optimal cooperative tracking control problem for multi-input linear time-invariant (LTI) systems. In this context, the system inputs are generated by a group of agents that communicate with each other over a network, i.e., each control input channel is considered as an agent, which can communicate over a network to transmit information and compute control input. Unlike centralized optimal tracking control, where inputs are designed using global information, each agent in the distributed framework has access only to its own input matrix and communicates solely with its neighbors within the network. This limitation introduces significant challenges in designing the optimal controller. To address this issue, an information fusion method is first proposed, enabling each agent to derive its optimal controller in a distributed manner. For scenarios where the system model is unknown, a fusion-based learning algorithm is further developed. The convergence and optimality of this algorithm are rigorously proved. A simulation example is provided to illustrate the effectiveness of the proposed approach.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3129-3134"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962834","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
Data-Driven Controllability and Controller Designs for Nabla Fractional Order Systems Nabla分数阶系统的数据驱动可控性和控制器设计
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520906
Shiang Cao;Yangquan Chen
{"title":"Data-Driven Controllability and Controller Designs for Nabla Fractional Order Systems","authors":"Shiang Cao;Yangquan Chen","doi":"10.1109/LCSYS.2024.3520906","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520906","url":null,"abstract":"This letter presents a data-driven approach to assess the controllability of nabla discrete fractional-order systems. This letter also proposes a data-driven approximation method for these systems, grounded in behavioral system theory. Instead of identifying a model that replicates the input-output dynamics, a direct modification is applied to the collected input-output data by solving a Hankel-structured low-rank approximation problem. The performance of the approximated nonparametric models in simulating system responses is compared to that of ARX models with the same number of states. The results indicate that the proposed method achieves similar simulation performance with improved accuracy. Furthermore, leveraging this approximation, many data-driven controllers can be designed. As an example, a data-driven predictive control strategy is designed and applied to a discrete fractional-order system. Simulation results demonstrate that the controller successfully drives the system outputs to the desired positions.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3033-3038"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962891","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
Signal Temporal Logic Planning With Time-Varying Robustness 时变鲁棒性信号时序逻辑规划
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520152
Yating Yuan;Thanin Quartz;Jun Liu
{"title":"Signal Temporal Logic Planning With Time-Varying Robustness","authors":"Yating Yuan;Thanin Quartz;Jun Liu","doi":"10.1109/LCSYS.2024.3520152","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520152","url":null,"abstract":"This letter aims to generate a continuous-time trajectory consisting of piecewise Bézier curves that satisfy signal temporal logic (STL) specifications with piecewise time-varying robustness. The time-varying robustness is less conservative than the real-valued robustness, which enables more effective tracking in practical applications. Specifically, continuous-time trajectories account for dynamic feasibility, leading to smaller tracking errors and ensuring that the STL specifications can be met by the tracking trajectory. Comparative experiments demonstrate the efficiency and effectiveness of the proposed approach. The implementation is available at \u0000<uri>https://github.com/ViviaY/TimeVaryingBound_STL</uri>\u0000.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3015-3020"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142912415","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
Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control 信息控制屏障功能：通过控制防止移动系统定位故障
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520519
Samuel G. Gessow;David Thorne;Brett T. Lopez
{"title":"Information Control Barrier Functions: Preventing Localization Failures in Mobile Systems Through Control","authors":"Samuel G. Gessow;David Thorne;Brett T. Lopez","doi":"10.1109/LCSYS.2024.3520519","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520519","url":null,"abstract":"This letter develops a new framework for preventing localization failures in mobile systems that estimate their state using measurements. Safety is guaranteed by imposing that the nonlinear least squares optimization, solved in modern localization algorithms, remains well-conditioned. Specifically, the eigenvalues of the Hessian matrix are made to be positive via two methods that leverage control barrier functions to achieve safe set invariance. The proposed method is not constrained to any specific measurement or system type, offering a general solution to the safe mobility with localization problem. The efficacy of the approach is demonstrated on a system provided range-only and heading-only measurements for localization.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3003-3008"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962828","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
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