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Projection-free computation of robust controllable sets with constrained zonotopes 无投影计算鲁棒性可控集与受约束等值线
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13730
Abraham P. Vinod, Avishai Weiss, Stefano Di Cairano
{"title":"Projection-free computation of robust controllable sets with constrained zonotopes","authors":"Abraham P. Vinod, Avishai Weiss, Stefano Di Cairano","doi":"arxiv-2403.13730","DOIUrl":"https://doi.org/arxiv-2403.13730","url":null,"abstract":"We study the problem of computing robust controllable sets for discrete-time\u0000linear systems with additive uncertainty. We propose a tractable and scalable\u0000approach to inner- and outer-approximate robust controllable sets using\u0000constrained zonotopes, when the additive uncertainty set is a symmetric,\u0000convex, and compact set. Our least-squares-based approach uses novel\u0000closed-form approximations of the Pontryagin difference between a constrained\u0000zonotopic minuend and a symmetric, convex, and compact subtrahend. Unlike\u0000existing approaches, our approach does not rely on convex optimization solvers,\u0000and is projection-free for ellipsoidal and zonotopic uncertainty sets. We also\u0000propose a least-squares-based approach to compute a convex, polyhedral\u0000outer-approximation to constrained zonotopes, and characterize sufficient\u0000conditions under which all these approximations are exact. We demonstrate the\u0000computational efficiency and scalability of our approach in several case\u0000studies, including the design of abort-safe rendezvous trajectories for a\u0000spacecraft in near-rectilinear halo orbit under uncertainty. Our approach can\u0000inner-approximate a 20-step robust controllable set for a 100-dimensional\u0000linear system in under 15 seconds on a standard computer.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"9 7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196743","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
Optimal control of continuous-time symmetric systems with unknown dynamics and noisy measurements 具有未知动态和噪声测量的连续时间对称系统的优化控制
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13605
Hamed Taghavian, Florian Dorfler, Mikael Johansson
{"title":"Optimal control of continuous-time symmetric systems with unknown dynamics and noisy measurements","authors":"Hamed Taghavian, Florian Dorfler, Mikael Johansson","doi":"arxiv-2403.13605","DOIUrl":"https://doi.org/arxiv-2403.13605","url":null,"abstract":"An iterative learning algorithm is presented for continuous-time\u0000linear-quadratic optimal control problems where the system is externally\u0000symmetric with unknown dynamics. Both finite-horizon and infinite-horizon\u0000problems are considered. It is shown that the proposed algorithm is globally\u0000convergent to the optimal solution and has some advantages over adaptive\u0000dynamic programming, including being unbiased under noisy measurements and\u0000having a relatively low computational burden. Numerical experiments show the\u0000effectiveness of the results.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"17 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196513","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
Federated reinforcement learning for robot motion planning with zero-shot generalization 用于机器人运动规划的零点泛化联合强化学习
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13245
Zhenyuan Yuan, Siyuan Xu, Minghui Zhu
{"title":"Federated reinforcement learning for robot motion planning with zero-shot generalization","authors":"Zhenyuan Yuan, Siyuan Xu, Minghui Zhu","doi":"arxiv-2403.13245","DOIUrl":"https://doi.org/arxiv-2403.13245","url":null,"abstract":"This paper considers the problem of learning a control policy for robot\u0000motion planning with zero-shot generalization, i.e., no data collection and\u0000policy adaptation is needed when the learned policy is deployed in new\u0000environments. We develop a federated reinforcement learning framework that\u0000enables collaborative learning of multiple learners and a central server, i.e.,\u0000the Cloud, without sharing their raw data. In each iteration, each learner\u0000uploads its local control policy and the corresponding estimated normalized\u0000arrival time to the Cloud, which then computes the global optimum among the\u0000learners and broadcasts the optimal policy to the learners. Each learner then\u0000selects between its local control policy and that from the Cloud for next\u0000iteration. The proposed framework leverages on the derived zero-shot\u0000generalization guarantees on arrival time and safety. Theoretical guarantees on\u0000almost-sure convergence, almost consensus, Pareto improvement and optimality\u0000gap are also provided. Monte Carlo simulation is conducted to evaluate the\u0000proposed framework.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"160 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196611","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
On Optimal Management of Energy Storage Systems in Renewable Energy Communities 论可再生能源社区中储能系统的优化管理
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13707
Giovanni Gino Zanvettor, Marco Casini, Antonio Vicino
{"title":"On Optimal Management of Energy Storage Systems in Renewable Energy Communities","authors":"Giovanni Gino Zanvettor, Marco Casini, Antonio Vicino","doi":"arxiv-2403.13707","DOIUrl":"https://doi.org/arxiv-2403.13707","url":null,"abstract":"Renewable energy communities are legal entities involving the association of\u0000citizens, organizations and local businesses aimed at contributing to the green\u0000energy transition and providing social, environmental and economic benefits to\u0000their members. This goal is pursued through the cooperative efforts of the\u0000community actors and by increasing the local energy self-consumption. In this\u0000paper, the optimal energy community operation in the presence of energy storage\u0000units is addressed. By exploiting the flexibility provided by the storage\u0000facilities, the main task is to minimize the community energy bill by taking\u0000advantage of incentives related to local self-consumption. Optimality\u0000conditions are derived, and an explicit optimal solution is devised. Numerical\u0000simulations are provided to assess the performance of the proposed solution.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"42 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196613","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
Priority-based Energy Allocation in Buildings for Distributed Model Predictive Control 分布式模型预测控制中基于优先级的楼宇能源分配
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13648
Hongyi Li, Jun Xu
{"title":"Priority-based Energy Allocation in Buildings for Distributed Model Predictive Control","authors":"Hongyi Li, Jun Xu","doi":"arxiv-2403.13648","DOIUrl":"https://doi.org/arxiv-2403.13648","url":null,"abstract":"Many countries are facing energy shortage today and most of the global energy\u0000is consumed by HVAC systems in buildings. For the scenarios where the energy\u0000system is not sufficiently supplied to HVAC systems, a priority-based\u0000allocation scheme based on distributed model predictive control is proposed in\u0000this paper, which distributes the energy rationally based on priority order.\u0000According to the scenarios, two distributed allocation strategies, i.e.,\u0000one-to-one priority strategy and multi-to-one priority strategy, are developed\u0000in this paper and validated by simulation in a building containing three zones\u0000and a building containing 36 rooms, respectively. Both strategies fully exploit\u0000the potential of predictive control solutions. The experiment shows that our\u0000scheme has good scalability and achieve the performance of centralized strategy\u0000while making the calculation tractable.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196797","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
Macroscopic pricing schemes for the utilization of pool ride-hailing vehicles in bus lanes 公交车道上拼车利用的宏观定价方案
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13651
Lynn Fayed, Gustav Nilsson, Nikolas Geroliminis
{"title":"Macroscopic pricing schemes for the utilization of pool ride-hailing vehicles in bus lanes","authors":"Lynn Fayed, Gustav Nilsson, Nikolas Geroliminis","doi":"arxiv-2403.13651","DOIUrl":"https://doi.org/arxiv-2403.13651","url":null,"abstract":"With the increasing popularity of ride-hailing services, new modes of\u0000transportation are having a significant impact on the overall performance of\u0000transportation networks. As a result, there is a need to ensure that both the\u0000various transportation alternatives and the spatial network resources are used\u0000efficiently. In this work, we analyze a network configuration where part of the\u0000urban transportation network is devoted to dedicated bus lanes. Apart from\u0000buses, we let pool ride-hailing trips use the dedicated bus lanes which,\u0000contingent upon the demand for the remaining modes, may result in faster trips\u0000for users opting for the pooling alternative. Under an aggregated modelling\u0000framework, we characterize the spatial configuration and the multi-modal demand\u0000split for which this strategy achieves a system optimum. For these specific\u0000scenarios, we compute the equilibrium when ride-hailing users can choose\u0000between solo and pool services, and we provide a pricing scheme for mitigating\u0000the gap between total user delays of the system optimum and user equilibrium\u0000solutions, when needed.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"47 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196619","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 Extended Kuramoto Model for Frequency and Phase Synchronization in Delay-Free Networks with Finite Number of Agents 具有有限代理数量的无延迟网络中频率和相位同步的扩展仓本模型
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13440
Andreas Bathelt, Vimukthi Herath, Thomas Dallmann
{"title":"An Extended Kuramoto Model for Frequency and Phase Synchronization in Delay-Free Networks with Finite Number of Agents","authors":"Andreas Bathelt, Vimukthi Herath, Thomas Dallmann","doi":"arxiv-2403.13440","DOIUrl":"https://doi.org/arxiv-2403.13440","url":null,"abstract":"Due to its description of a synchronization between oscillators, the Kuramoto\u0000model is an ideal choice for a synchronisation algorithm in networked systems.\u0000This requires to achieve not only a frequency synchronization but also a phase\u0000synchronization - something the standard Kuramoto model can not provide for a\u0000finite number of agents. In this case, a remaining phase difference is\u0000necessary to offset differences of the natural frequencies. Setting the\u0000Kuramoto model into the context of dynamic consensus and making use of the\u0000$n$th order discrete average consensus algorithm, this paper extends the\u0000standard Kuramoto model in such a way that frequency and phase synchronization\u0000are separated. This in turn leads to an algorithm achieve the required\u0000frequency and phase synchronization also for a finite number of agents.\u0000Simulations show the viability of this extended Kuramoto model.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"24 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196669","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
Adversarial Attacks and Defenses in Automated Control Systems: A Comprehensive Benchmark 自动控制系统中的对抗性攻击与防御：综合基准
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13502
Vitaliy Pozdnyakov, Aleksandr Kovalenko, Ilya Makarov, Mikhail Drobyshevskiy, Kirill Lukyanov
{"title":"Adversarial Attacks and Defenses in Automated Control Systems: A Comprehensive Benchmark","authors":"Vitaliy Pozdnyakov, Aleksandr Kovalenko, Ilya Makarov, Mikhail Drobyshevskiy, Kirill Lukyanov","doi":"arxiv-2403.13502","DOIUrl":"https://doi.org/arxiv-2403.13502","url":null,"abstract":"Integrating machine learning into Automated Control Systems (ACS) enhances\u0000decision-making in industrial process management. One of the limitations to the\u0000widespread adoption of these technologies in industry is the vulnerability of\u0000neural networks to adversarial attacks. This study explores the threats in\u0000deploying deep learning models for fault diagnosis in ACS using the Tennessee\u0000Eastman Process dataset. By evaluating three neural networks with different\u0000architectures, we subject them to six types of adversarial attacks and explore\u0000five different defense methods. Our results highlight the strong vulnerability\u0000of models to adversarial samples and the varying effectiveness of defense\u0000strategies. We also propose a novel protection approach by combining multiple\u0000defense methods and demonstrate it's efficacy. This research contributes\u0000several insights into securing machine learning within ACS, ensuring robust\u0000fault diagnosis in industrial processes.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"132 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196707","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
Adaptive Reconstruction of Nonlinear Systems States via DREM with Perturbation Annihilation 通过具有扰动湮没功能的 DREM 自适应重构非线性系统状态
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13664
Anton Glushchenko, Konstantin Lastochkin
{"title":"Adaptive Reconstruction of Nonlinear Systems States via DREM with Perturbation Annihilation","authors":"Anton Glushchenko, Konstantin Lastochkin","doi":"arxiv-2403.13664","DOIUrl":"https://doi.org/arxiv-2403.13664","url":null,"abstract":"A new adaptive observer is proposed for a certain class of nonlinear systems\u0000with bounded unknown input and parametric uncertainty. Unlike most existing\u0000solutions, the proposed approach ensures asymptotic convergence of the unknown\u0000parameters, state and perturbation estimates to an arbitrarily small\u0000neighborhood of the equilibrium point. The solution is based on the novel\u0000augmentation of a high-gain observer with the dynamic regressor extension and\u0000mixing (DREM) procedure enhanced with a perturbation annihilation algorithm.\u0000The aforementioned properties of the proposed solution are verified via\u0000numerical experiments.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"9 48 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196737","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
Network-Aware Value Stacking of Community Battery via Asynchronous Distributed Optimization 通过异步分布式优化实现社区电池的网络感知价值堆叠
arXiv - CS - Systems and Control Pub Date : 2024-03-20 DOI: arxiv-2403.13255
Canchen Jiang, Hao Wang
{"title":"Network-Aware Value Stacking of Community Battery via Asynchronous Distributed Optimization","authors":"Canchen Jiang, Hao Wang","doi":"arxiv-2403.13255","DOIUrl":"https://doi.org/arxiv-2403.13255","url":null,"abstract":"Community battery systems have been widely deployed to provide services to\u0000the grid. Unlike a single battery storage system in the community, coordinating\u0000multiple community batteries can further unlock their value, enhancing the\u0000viability of community battery solutions. However, the centralized control of\u0000community batteries relies on the full information of the system, which is less\u0000practical and may even lead to privacy leakage. In this paper, we formulate a\u0000value-stacking optimization problem for community batteries to interact with\u0000local solar, buildings, and the grid, within distribution network constraints.\u0000We then propose a distributed algorithm using asynchronous distributed\u0000alternate direction method of multipliers (ADMM) to solve the problem. Our\u0000algorithm is robust to communication latency between community batteries and\u0000the grid while preserving the operational privacy. The simulation results\u0000demonstrate the convergence of our proposed asynchronous distributed ADMM\u0000algorithm. We also evaluate the electricity cost and the contribution of each\u0000value stream in the value-stacking problem for community batteries using\u0000real-world data.","PeriodicalId":501062,"journal":{"name":"arXiv - CS - Systems and Control","volume":"51 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140196616","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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