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Towards a unifying framework for data-driven predictive control with quadratic regularization 利用二次正则化实现数据驱动预测控制的统一框架
arXiv - CS - Systems and Control Pub Date : 2024-04-03 DOI: arxiv-2404.02721
Manuel Klädtke, Moritz Schulze Darup
{"title":"Towards a unifying framework for data-driven predictive control with quadratic regularization","authors":"Manuel Klädtke, Moritz Schulze Darup","doi":"arxiv-2404.02721","DOIUrl":"https://doi.org/arxiv-2404.02721","url":null,"abstract":"Data-driven predictive control (DPC) has recently gained popularity as an\u0000alternative to model predictive control (MPC). Amidst the surge in proposed DPC\u0000frameworks, upon closer inspection, many of these frameworks are more closely\u0000related (or perhaps even equivalent) to each other than it may first appear. We\u0000argue for a more formal characterization of these relationships so that results\u0000can be freely transferred from one framework to another, rather than being\u0000uniquely attributed to a particular framework. We demonstrate this idea by\u0000examining the connection between $gamma$-DDPC and the original DeePC\u0000formulation.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140573136","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 Unsupervised Adversarial Autoencoder for Cyber Attack Detection in Power Distribution Grids 用于配电网网络攻击检测的无监督广告自动编码器
arXiv - CS - Systems and Control Pub Date : 2024-03-31 DOI: arxiv-2404.02923
Mehdi Jabbari Zideh, Mohammad Reza Khalghani, Sarika Khushalani Solanki
{"title":"An Unsupervised Adversarial Autoencoder for Cyber Attack Detection in Power Distribution Grids","authors":"Mehdi Jabbari Zideh, Mohammad Reza Khalghani, Sarika Khushalani Solanki","doi":"arxiv-2404.02923","DOIUrl":"https://doi.org/arxiv-2404.02923","url":null,"abstract":"Detection of cyber attacks in smart power distribution grids with unbalanced\u0000configurations poses challenges due to the inherent nonlinear nature of these\u0000uncertain and stochastic systems. It originates from the intermittent\u0000characteristics of the distributed energy resources (DERs) generation and load\u0000variations. Moreover, the unknown behavior of cyber attacks, especially false\u0000data injection attacks (FDIAs) in the distribution grids with complex temporal\u0000correlations and the limited amount of labeled data increases the vulnerability\u0000of the grids and imposes a high risk in the secure and reliable operation of\u0000the grids. To address these challenges, this paper proposes an unsupervised\u0000adversarial autoencoder (AAE) model to detect FDIAs in unbalanced power\u0000distribution grids integrated with DERs, i.e., PV systems and wind generation.\u0000The proposed method utilizes long short-term memory (LSTM) in the structure of\u0000the autoencoder to capture the temporal dependencies in the time-series\u0000measurements and leverages the power of generative adversarial networks (GANs)\u0000for better reconstruction of the input data. The advantage of the proposed\u0000data-driven model is that it can detect anomalous points for the system\u0000operation without reliance on abstract models or mathematical representations.\u0000To evaluate the efficacy of the approach, it is tested on IEEE 13-bus and\u0000123-bus systems with historical meteorological data (wind speed, ambient\u0000temperature, and solar irradiance) as well as historical real-world load data\u0000under three types of data falsification functions. The comparison of the\u0000detection results of the proposed model with other unsupervised learning\u0000methods verifies its superior performance in detecting cyber attacks in\u0000unbalanced power distribution grids.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"16 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140573357","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
Bayesian Methods for Trust in Collaborative Multi-Agent Autonomy 用贝叶斯方法解决多代理协作自主中的信任问题
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16956
R. Spencer Hallyburton, Miroslav Pajic
{"title":"Bayesian Methods for Trust in Collaborative Multi-Agent Autonomy","authors":"R. Spencer Hallyburton, Miroslav Pajic","doi":"arxiv-2403.16956","DOIUrl":"https://doi.org/arxiv-2403.16956","url":null,"abstract":"Multi-agent, collaborative sensor fusion is a vital component of a\u0000multi-national intelligence toolkit. In safety-critical and/or contested\u0000environments, adversaries may infiltrate and compromise a number of agents. We\u0000analyze state of the art multi-target tracking algorithms under this\u0000compromised agent threat model. We prove that the track existence probability\u0000test (\"track score\") is significantly vulnerable to even small numbers of\u0000adversaries. To add security awareness, we design a trust estimation framework\u0000using hierarchical Bayesian updating. Our framework builds beliefs of trust on\u0000tracks and agents by mapping sensor measurements to trust pseudomeasurements\u0000(PSMs) and incorporating prior trust beliefs in a Bayesian context. In case\u0000studies, our trust estimation algorithm accurately estimates the\u0000trustworthiness of tracks/agents, subject to observability limitations.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"72 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140302850","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
A Semi-Lagrangian Approach for Time and Energy Path Planning Optimization in Static Flow Fields 静态流场中时间和能量路径规划优化的半拉格朗日方法
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16859
Víctor C. da S. Campos, Armando A. Neto, Douglas G. Macharet
{"title":"A Semi-Lagrangian Approach for Time and Energy Path Planning Optimization in Static Flow Fields","authors":"Víctor C. da S. Campos, Armando A. Neto, Douglas G. Macharet","doi":"arxiv-2403.16859","DOIUrl":"https://doi.org/arxiv-2403.16859","url":null,"abstract":"Efficient path planning for autonomous mobile robots is a critical problem\u0000across numerous domains, where optimizing both time and energy consumption is\u0000paramount. This paper introduces a novel methodology that considers the dynamic\u0000influence of an environmental flow field and considers geometric constraints,\u0000including obstacles and forbidden zones, enriching the complexity of the\u0000planning problem. We formulate it as a multi-objective optimal control problem,\u0000propose a novel transformation called Harmonic Transformation, and apply a\u0000semi-Lagrangian scheme to solve it. The set of Pareto efficient solutions is\u0000obtained considering two distinct approaches: a deterministic method and an\u0000evolutionary-based one, both of which are designed to make use of the proposed\u0000Harmonic Transformation. Through an extensive analysis of these approaches, we\u0000demonstrate their efficacy in finding optimized paths.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"10 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140303133","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
Trajectory Planning of Robotic Manipulator in Dynamic Environment Exploiting DRL 利用 DRL 进行动态环境中机器人机械手的轨迹规划
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16652
Osama Ahmad, Zawar Hussain, Hammad Naeem
{"title":"Trajectory Planning of Robotic Manipulator in Dynamic Environment Exploiting DRL","authors":"Osama Ahmad, Zawar Hussain, Hammad Naeem","doi":"arxiv-2403.16652","DOIUrl":"https://doi.org/arxiv-2403.16652","url":null,"abstract":"This study is about the implementation of a reinforcement learning algorithm\u0000in the trajectory planning of manipulators. We have a 7-DOF robotic arm to pick\u0000and place the randomly placed block at a random target point in an unknown\u0000environment. The obstacle is randomly moving which creates a hurdle in picking\u0000the object. The objective of the robot is to avoid the obstacle and pick the\u0000block with constraints to a fixed timestamp. In this literature, we have\u0000applied a deep deterministic policy gradient (DDPG) algorithm and compared the\u0000model's efficiency with dense and sparse rewards.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"12 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140301604","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 Extrusion Force Control Tuning for 3D Printing 针对 3D 打印的数据驱动挤出力控制调整
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16470
Xavier Guidetti, Ankita Mukne, Marvin Rueppel, Yannick Nagel, Efe C. Balta, John Lygeros
{"title":"Data-Driven Extrusion Force Control Tuning for 3D Printing","authors":"Xavier Guidetti, Ankita Mukne, Marvin Rueppel, Yannick Nagel, Efe C. Balta, John Lygeros","doi":"arxiv-2403.16470","DOIUrl":"https://doi.org/arxiv-2403.16470","url":null,"abstract":"The quality of 3D prints often varies due to different conditions inherent to\u0000each print, such as filament type, print speed, and nozzle size. Closed-loop\u0000process control methods improve the accuracy and repeatability of 3D prints.\u0000However, optimal tuning of controllers for given process parameters and design\u0000geometry is often a challenge with manually tuned controllers resulting in\u0000inconsistent and suboptimal results. This work employs Bayesian optimization to\u0000identify the optimal controller parameters. Additionally, we explore transfer\u0000learning in the context of 3D printing by leveraging prior information from\u0000past trials. By integrating optimized extrusion force control and transfer\u0000learning, we provide a novel framework for closed-loop 3D printing and propose\u0000an automated calibration routine that produces high-quality prints for a\u0000desired combination of print settings, material, and shape.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"258 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140297431","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
Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications 从时态逻辑规范中模仿学习反馈控制器的反例指导
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16593
Thao Dang, Alexandre Donzé, Inzemamul Haque, Nikolaos Kekatos, Indranil Saha
{"title":"Counter-example guided Imitation Learning of Feedback Controllers from Temporal Logic Specifications","authors":"Thao Dang, Alexandre Donzé, Inzemamul Haque, Nikolaos Kekatos, Indranil Saha","doi":"arxiv-2403.16593","DOIUrl":"https://doi.org/arxiv-2403.16593","url":null,"abstract":"We present a novel method for imitation learning for control requirements\u0000expressed using Signal Temporal Logic (STL). More concretely we focus on the\u0000problem of training a neural network to imitate a complex controller. The\u0000learning process is guided by efficient data aggregation based on\u0000counter-examples and a coverage measure. Moreover, we introduce a method to\u0000evaluate the performance of the learned controller via parameterization and\u0000parameter estimation of the STL requirements. We demonstrate our approach with\u0000a flying robot case study.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140297462","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 Solution to Infinite Horizon Nonlinear Control Problems: Part II 无限视界非线性控制问题的最优解：第二部分
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16979
Mohamed Naveed Gul Mohamed, Aayushman Sharma, Raman Goyal, Suman Chakravorty
{"title":"An Optimal Solution to Infinite Horizon Nonlinear Control Problems: Part II","authors":"Mohamed Naveed Gul Mohamed, Aayushman Sharma, Raman Goyal, Suman Chakravorty","doi":"arxiv-2403.16979","DOIUrl":"https://doi.org/arxiv-2403.16979","url":null,"abstract":"This paper considers the infinite horizon optimal control problem for\u0000nonlinear systems. Under the condition of nonlinear controllability of the\u0000system to any terminal set containing the origin and forward invariance of the\u0000terminal set, we establish a regularized solution approach consisting of a\u0000``finite free final time\" optimal transfer problem to the terminal set which\u0000renders the set globally asymptotically stable. Further, we show that the\u0000approximations converge to the optimal infinite horizon cost as the size of the\u0000terminal set decreases to zero. We also perform the analysis for the discounted\u0000problem and show that the terminal set is asymptotically stable only for a\u0000subset of the state space and not globally. The theory is empirically evaluated\u0000on various nonholonomic robotic systems to show that the cost of our\u0000approximate problem converges and the transfer time into the terminal set is\u0000dependent on the initial state of the system, necessitating the free final time\u0000formulation.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140301400","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
Symbolic and User-friendly Geometric Algebra Routines (SUGAR) for Computations in Matlab 用于 Matlab 计算的符号化和用户友好型几何代数例程 (SUGAR)
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16634
Manel Velasco, Isiah Zaplana, Arnau Dória-Cerezo, Pau Martí
{"title":"Symbolic and User-friendly Geometric Algebra Routines (SUGAR) for Computations in Matlab","authors":"Manel Velasco, Isiah Zaplana, Arnau Dória-Cerezo, Pau Martí","doi":"arxiv-2403.16634","DOIUrl":"https://doi.org/arxiv-2403.16634","url":null,"abstract":"Geometric algebra (GA) is a mathematical tool for geometric computing,\u0000providing a framework that allows a unified and compact approach to geometric\u0000relations which in other mathematical systems are typically described using\u0000different more complicated elements. This fact has led to an increasing\u0000adoption of GA in applied mathematics and engineering problems. However, the\u0000scarcity of symbolic implementations of GA and its inherent complexity,\u0000requiring a specific mathematical background, make it challenging and less\u0000intuitive for engineers to work with. This prevents wider adoption among more\u0000applied professionals. To address this challenge, this paper introduces SUGAR\u0000(Symbolic and User-friendly Geometric Algebra Routines), an open-source toolbox\u0000designed for Matlab and licensed under the MIT License. SUGAR facilitates the\u0000translation of GA concepts into Matlab and provides a collection of\u0000user-friendly functions tailored for GA computations, including support for\u0000symbolic operations. It supports both numeric and symbolic computations in\u0000high-dimensional GAs. Specifically tailored for applied mathematics and\u0000engineering applications, SUGAR has been meticulously engineered to represent\u0000geometric elements and transformations within two and three-dimensional\u0000projective and conformal geometric algebras, aligning with established\u0000computational methodologies in the literature. Furthermore, SUGAR efficiently\u0000handles functions of multivectors, such as exponential, logarithmic,\u0000sinusoidal, and cosine functions, enhancing its applicability across various\u0000engineering domains, including robotics, control systems, and power\u0000electronics. Finally, this work includes four distinct validation examples,\u0000demonstrating SUGAR's capabilities across the above-mentioned fields and its\u0000practical utility in addressing real-world applied mathematics and engineering\u0000problems.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"119 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140303167","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 Adaptive Workplace: Orchestrating Architectural Services around the Wellbeing of Individual Occupants 适应性工作场所：围绕个人居住者的福祉协调建筑服务
arXiv - CS - Systems and Control Pub Date : 2024-03-25 DOI: arxiv-2403.16595
Andrew Vande Moere, Sara Arko, Alena Safrova Drasilova, Tomáš Ondráček, Ilaria Pigliautile, Benedetta Pioppi, Anna Laura Pisello, Jakub Prochazka, Paula Acuna Roncancio, Davide Schaumann, Marcel Schweiker, Binh Vinh Duc Nguyen
{"title":"The Adaptive Workplace: Orchestrating Architectural Services around the Wellbeing of Individual Occupants","authors":"Andrew Vande Moere, Sara Arko, Alena Safrova Drasilova, Tomáš Ondráček, Ilaria Pigliautile, Benedetta Pioppi, Anna Laura Pisello, Jakub Prochazka, Paula Acuna Roncancio, Davide Schaumann, Marcel Schweiker, Binh Vinh Duc Nguyen","doi":"arxiv-2403.16595","DOIUrl":"https://doi.org/arxiv-2403.16595","url":null,"abstract":"As the academic consortia members of the EU Horizon project SONATA\u0000(\"Situation-aware OrchestratioN of AdapTive Architecture\"), we respond to the\u0000workshop call for \"Office Wellbeing by Design: Don't Stand for Anything Less\"\u0000by proposing the \"Adaptive Workplace\" concept. In essence, our vision aims to\u0000adapt a workplace to the ever-changing needs of individual occupants, instead\u0000of that occupants are expected to adapt to their workplace.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140301319","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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