| 1. |
- Bahraini, Masoud, 1991, et al.
(författare)
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Communication Demand Minimization for Perturbed Networked Control Systems with Coupled Constraints
- 2023
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 2576-2370 .- 0743-1546. ; , s. 3468-3473
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Konferensbidrag (refereegranskat)abstract
- Communication scheduling is needed when control loops of several safety-critical systems are closed through a shared communication medium. To enable schedulability, control for each system is designed primarily to minimize its communication demand. In this paper, we study communication demand minimization for a class of perturbed multi-agent networked control systems with a shared communication medium and subject to input and coupled state constraints. First, a framework to design communication schedule and control is recalled such that state and input constraints are satisfied under no coupling assumption. Then, a heuristic method is proposed to decouple state constraints such that the overall communication demand of the systems is minimized. Effectiveness of the proposed results are illustrated through a numerical example.
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| 2. |
- Bahraini, Masoud, 1991, et al.
(författare)
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Optimal Control Design for Perturbed Constrained Networked Control Systems
- 2021
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Ingår i: IEEE Control Systems Letters. - 2475-1456. ; 5:2, s. 553-558
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Tidskriftsartikel (refereegranskat)abstract
- This letter focuses on an optimal control design problem for a class of perturbed networked control systems where a number of systems, subject to state and input constraints, share a communication network with limited bandwidth. We first formulate an optimal control design problem with a constant feedback gain in order to minimize the communication demand for each system while guaranteeing satisfaction of state and input constraints; we show that this optimization problem is very hard to solve. Then, we formulate the same optimal control design problem with a non-constant feedback gain; we argue that this problem is less difficult and results in a lower, or equal, communication demand in comparison to the design with the constant feedback gain. We illustrate and compare these optimal control designs by a simple example.
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| 3. |
- Bahraini, Masoud, 1991, et al.
(författare)
-
Optimal scheduling and control for constrained multi-agent networked control systems
- 2022
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Ingår i: Optimal Control Applications and Methods. - : Wiley. - 1099-1514 .- 0143-2087. ; 43:1, s. 23-43
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we study optimal control and communication schedule co-design for multi-agent networked control systems, with assuming shared parallel communication channels and uncertain constrained linear time-invariant discrete-time systems. To that end, we specify the communication demand for each system using an associated robust control invariant set and reachability analysis. We use these communication demands and invariant sets to formulate tube-based model predictive control and offline/online communication schedule co-design problems. Since the scheduling part includes an infinite dimension integer problem, we propose heuristics to find suboptimal solutions that guarantee robust constraints satisfaction and recursive feasibility. The effectiveness of our approach is illustrated through numerical simulations.
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| 4. |
- Bahraini, Masoud, 1991, et al.
(författare)
-
Receding-horizon robust online communication scheduling for constrained networked control systems
- 2019
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Ingår i: 2019 18th European Control Conference, ECC 2019. ; , s. 2969-2974
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a novel online scheduling approach for perturbed Networked Control Systems (NCS) over lossy networks, subject to state and input constraints and limited network capacity. The paper shows how an online communication schedule can be found for the considered class of systems, as the solution of a constrained optimization problem, which is solved in receding horizon and is proven to be persistently feasible. The resulting online schedule is proven to preserve the system invariance w.r.t. state and input constraints. A communication scheduler is also derived for lossy networks, starting from a feasible baseline schedule calculated offline. Numerical examples are given to illustrate the proposed contributions.
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| 5. |
- Bahraini, Masoud, 1991, et al.
(författare)
-
Robust Control Invariance for Networked Control Systems with Output Feedback
- 2022
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Ingår i: Proceedings of the IEEE Conference on Decision and Control. - 0743-1546 .- 2576-2370. ; 2022-December, s. 7676-7681
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Konferensbidrag (refereegranskat)abstract
- This paper focuses on robust output feedback design for multi-agent networked control systems with a shared communication medium, where each system is subject to state and input constraints. We first compute the communication demand for each system given constant observer and controller gains; we argue that minimization of the communication demand with respect to the control or observer gains is very hard. Then, given a constant observer gain, we compute the minimum communication demand for each system and a corresponding control policy using model predictive control; we argue that the second approach is less difficult to solve and results in a communication demand which is no larger than for a linear controller. We illustrate and compare these design methods by a numerical example.
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| 6. |
- Bahraini, Masoud, 1991, et al.
(författare)
-
Scheduling and Robust Invariance in Networked Control Systems
- 2022
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Ingår i: IEEE Transactions on Automatic Control. - 0018-9286 .- 1558-2523. ; 67:6, s. 3075-3082
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Tidskriftsartikel (refereegranskat)abstract
- In Networked Control Systems (NCS), impairments of the communication channel can be disruptive to stability and performance. In this paper, we consider the problem of scheduling the access to limited communication resources for a number of decoupled systems subject to state and input constraints, whose loops need to be closed over the network. The schedule must be designed to robustly preserve the invariance property of each system, which in turn guarantees constraint satisfaction. To that end, we first focus on systematic offline scheduling design to preserve robust invariance, and afterwards on online scheduling design with the aim of improving performance and compensating for packet losses while guaranteeing recursive schedulability.
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| 7. |
- Batkovic, Ivo, 1992, et al.
(författare)
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A Computationally Efficient Model for Pedestrian Motion Prediction
- 2018
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Konferensbidrag (refereegranskat)abstract
- We present a mathematical model to predict pedestrian motion over a finite horizon, intended for use in collision avoidance algorithms for autonomous driving. The model is based on a road map structure, and assumes a rational pedestrian behavior. We compare our model with the state-of-the art and discuss its accuracy, and limitations, both in simulations and in comparison to real data.
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| 8. |
- Batkovic, Ivo, 1992, et al.
(författare)
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A Robust Scenario MPC Approach for Uncertain Multi-Modal Obstacles
- 2021
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Ingår i: IEEE Control Systems Letters. - 2475-1456. ; 5:3, s. 947-952
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Tidskriftsartikel (refereegranskat)abstract
- Motion planning and control algorithms for autonomous vehicles need to be safe, and consider future movements of other road users to ensure collision-free trajectories. In this letter, we present a control scheme based on Model Predictive Control (MPC) with robust constraint satisfaction where the constraint uncertainty, stemming from the road users' behavior, is multimodal. The method combines ideas from tube-based and scenario-based MPC strategies in order to approximate the expected cost and to guarantee robust state and input constraint satisfaction. In particular, we design a feedback policy that is a function of the disturbance mode and allows the controller to take less conservative actions. The effectiveness of the proposed approach is illustrated through two numerical simulations, where we compare it against a standard robust MPC formulation.
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| 9. |
- Batkovic, Ivo, 1992, et al.
(författare)
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Experimental Validation of Safe MPC for Autonomous Driving in Uncertain Environments
- 2023
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Ingår i: IEEE Transactions on Control Systems Technology. - 1063-6536 .- 1558-0865. ; 31:5, s. 2027-2042
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Tidskriftsartikel (refereegranskat)abstract
- The full deployment of autonomous driving systems on a worldwide scale requires that the self-driving vehicle can be operated in a provably safe manner, i.e., the vehicle must be able to avoid collisions in any possible traffic situation. In this article, we propose a framework based on model predictive control (MPC) that endows the self-driving vehicle with the necessary safety guarantees. In particular, our framework ensures constraint satisfaction at all times while tracking the reference trajectory as close as obstacles allow, resulting in a safe and comfortable driving behavior. To discuss the performance and real-time capability of our framework, we provide first an illustrative simulation example, and then, we demonstrate the effectiveness of our framework in experiments with a real test vehicle.
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| 10. |
- Batkovic, Ivo, 1992, et al.
(författare)
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Model Predictive Control for Safe Autonomous Driving Applications
- 2023
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Ingår i: Lecture Notes in Intelligent Transportation and Infrastructure. - Cham : Springer International Publishing. - 2523-3459 .- 2523-3440. ; Part F1376, s. 255-282
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- Although Model Predictive Control is widely used in motion planning and control for autonomous driving applications, accommodating closed-loop stability with respect to an arbitrary reference trajectory and avoidance of pop-up or moving obstacles is still an open problem. While it is well-known how to design a closed-loop stable MPC with respect to a reference trajectory that satisfies the system dynamics, this chapter discusses how to guarantee stability of a vehicle motion planner and controller when a user-provided arbitrary reference is used. Furthermore, the proposed MPC scheme enables recursive collision-avoidance constraint satisfaction in the presence of pop-up or moving obstacles (e.g., pedestrians, cyclists, human-driven vehicles), provided that their predicted future motion trajectory is available together with some uncertainty bound and satisfies some mild requirement. The proposed motion planner and controller is demonstrated through simulations.
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