| 1. |
- Johansson, Alexander, et al.
(författare)
-
Multi-Fleet Platoon Matching : A Game-Theoretic Approach
- 2018
-
Ingår i: 2018 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC). - : IEEE. - 9781728103235 ; , s. 2980-2985
-
Konferensbidrag (refereegranskat)abstract
- We consider the platoon matching problem for a set of trucks with the same origin, but different destinations. It is assumed that the vehicles benefit from traveling in a platoon for instance through reduced fuel consumption. The vehicles belong to different fleet owners and their strategic interaction is modeled as a non-cooperative game where the vehicle actions are their departure times. Each truck has a preferred departure time and its utility function is defined as the difference between its benefit from platooning and the cost of deviating from its preferred departure time. We show that the platoon matching game is an exact potential game. An algorithm based on best response dynamics is proposed for finding a Nash equilibrium of the game. At a Nash equilibrium, vehicles with the same departure time are matched to form a platoon. Finally, the total fuel reduction at the Nash equilibrium is studied and compared with that of a cooperative matching solution where a common utility function for all vehicles is optimized.
|
|
| 2. |
- Johansson, Alexander, et al.
(författare)
-
Optimization of the H∞-norm of Dynamic Flow Networks
- 2018
-
Ingår i: 2018 Annual American Control Conference (ACC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1280-1285
-
Konferensbidrag (refereegranskat)abstract
- In this paper, we study the H∞-norm of linear systems over graphs, which is used to model distribution networks. In particular, we aim to minimize the H∞-norm subject to allocation of the weights on the edges. The optimization problem is formulated with LMI (Linear-Matrix-Inequality) constraints. For distribution networks with one port, i.e., SISO systems, we show that the H∞-norm coincides with the effective resistance between the nodes in the port. Moreover, we derive an upper bound of the H∞-norm, which is in terms of the algebraic connectivity of the graph on which the distribution network is defined.
|
|
| 3. |
- Ishizaki, Takayuki, et al.
(författare)
-
Retrofit control : Localization of controller design and implementation
- 2018
-
Ingår i: Automatica. - : PERGAMON-ELSEVIER SCIENCE LTD. - 0005-1098 .- 1873-2836. ; 95, s. 336-346
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we propose a retrofit control method for stable network systems. The proposed approach is a control method that, rather than an entire system model, requires a model of the subsystem of interest for controller design. To design the retrofit controller, we use a novel approach based on hierarchical state-space expansion that generates a higher-dimensional cascade realization of a given network system. The upstream dynamics of the cascade realization corresponds to an isolated model of the subsystem of interest, which is stabilized by a local controller. The downstream dynamics can be seen as a dynamical model representing the propagation of interference signals among subsystems, the stability of which is equivalent to that of the original system. This cascade structure enables a systematic analysis of both the stability and control performance of the resultant closed-loop system. The resultant retrofit controller is formed as a cascade interconnection of the local controller and an output rectifier that rectifies an output signal of the subsystem of interest so as to conform to an output signal of the isolated subsystem model while acquiring complementary signals neglected in the local controller design, such as interconnection signals from neighboring subsystems. Finally, the efficiency of the retrofit control method is demonstrated through numerical examples of power systems control and vehicle platoon control.
|
|
| 4. |
- Jafarian, Matin, et al.
(författare)
-
Synchronization of Kuramoto oscillators in a bidirectional frequency-dependent tree network
- 2018
-
Ingår i: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC). - : IEEE. - 9781538613955 ; , s. 4505-4510
-
Konferensbidrag (refereegranskat)abstract
- This paper studies the synchronization of a finite number of Kuramoto oscillators in a frequency-dependent bidirectional tree network. We assume that the coupling strength of each link in each direction is equal to the product of a common coefficient and the exogenous frequency of its corresponding source oscillator. We derive a sufficient condition for the common coupling strength in order to guarantee frequency synchronization in tree networks. Moreover, we discuss the dependency of the obtained bound on both the graph structure and the way that exogenous frequencies are distributed. Further, we present an application of the obtained result by means of an event-triggered algorithm for achieving frequency synchronization in a star network assuming that the common coupling coefficient is given.
|
|
| 5. |
- Liuzza, Davide, et al.
(författare)
-
Generalized PID Synchronization of Higher Order Nonlinear Systems With a Recursive Lyapunov Approach
- 2018
-
Ingår i: IEEE Transactions on Control of Network Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 2325-5870. ; 5:4, s. 1608-1621
-
Tidskriftsartikel (refereegranskat)abstract
- This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we first study the global synchronization of nonlinear systems in the canonical control form with both distributed proportional-derivative and proportional-integral-derivative control actions of any order. To do so, we develop a constructive methodology and generate in an iterative way inequality constraints on the coupling matrices that guarantee the solvability of the problem or, in a dual form, provide the nonlinear weights on the coupling links between the agents such that the network synchronizes. The same methodology allows us to include a possible distributed integral action of any order to enhance the rejection of heterogeneous disturbances. The considered approach does not require any dynamic cancellation, thus preserving the original nonlinear dynamics of the agents. The results are then extended to linear and nonlinear systems admitting a canonical control transformation. Numerical simulations validate the theoretical results.
|
|
| 6. |
- Pirani, Mohammad, et al.
(författare)
-
Resilient Estimation and Control on k-Nearest Neighbor Platoons : A Network-Theoretic Approach
- 2018
-
Ingår i: IFAC-PapersOnLine. - : Elsevier B.V.. ; , s. 22-27
-
Konferensbidrag (refereegranskat)abstract
- This paper is concerned with the network-theoretic properties of so-called k-nearest neighbor intelligent vehicular platoons, where each vehicle communicates with k vehicles, both in front and behind. The network-theoretic properties analyzed in this paper play major roles in quantifying the resilience and robustness of three generic distributed estimation and control algorithms against communication failures and disturbances, namely resilient distributed estimation, resilient distributed consensus, and robust network formation. Based on the results for the connectivity measures of the k-nearest neighbor platoon, we show that extending the traditional platooning topologies (which were only based on interacting with nearest neighbors) to k-nearest neighbor platoons increases the resilience of distributed estimation and control algorithms to both communication failures and disturbances.
|
|
| 7. |
- Stankovic, Milos S., et al.
(författare)
-
On Consensus-Based Distributed Blind Calibration of Sensor Networks
- 2018
-
Ingår i: Sensors. - : MDPI. - 1424-8220. ; 18:11
-
Forskningsöversikt (refereegranskat)abstract
- This paper deals with recently proposed algorithms for real-time distributed blind macro-calibration of sensor networks based on consensus (synchronization). The algorithms are completely decentralized and do not require a fusion center. The goal is to consolidate all of the existing results on the subject, present them in a unified way, and provide additional important analysis of theoretical and practical issues that one can encounter when designing and applying the methodology. We first present the basic algorithm which estimates local calibration parameters by enforcing asymptotic consensus, in the mean-square sense and with probability one (w.p.1), on calibrated sensor gains and calibrated sensor offsets. For the more realistic case in which additive measurement noise, communication dropouts and additive communication noise are present, two algorithm modifications are discussed: one that uses a simple compensation term, and a more robust one based on an instrumental variable. The modified algorithms also achieve asymptotic agreement for calibrated sensor gains and offsets, in the mean-square sense and w.p.1. The convergence rate can be determined in terms of an upper bound on the mean-square error. The case when the communications between nodes is completely asynchronous, which is of substantial importance for real-world applications, is also presented. Suggestions for design of a priori adjustable weights are given. We also present the results for the case in which the underlying sensor network has a subset of (precalibrated) reference sensors with fixed calibration parameters. Wide applicability and efficacy of these algorithms are illustrated on several simulation examples. Finally, important open questions and future research directions are discussed.
|
|
| 8. |
- Teixeira, André, Associate Professor, et al.
(författare)
-
Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems
- 2018
-
Ingår i: IEEE Transactions on Control of Network Systems. - : Institute of Electrical and Electronics Engineers (IEEE). - 2325-5870. ; 5:4, s. 1517-1528
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.
|
|
| 9. |
- van Dooren, Dirk, et al.
(författare)
-
Delay Analysis of Group Handover for Real-Time Control over Mobile Networks
- 2018
-
Ingår i: 2018 IEEE Global Communications Conference, GLOBECOM 2018 - Proceedings. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781538647271
-
Konferensbidrag (refereegranskat)abstract
- Future mobile networks will provide support for real-time control applications. The tight real-time and reliability constraints of these applications introduce novel challenges for mobility management. Legacy individual handover schemes do not sufficiently address these issues, as they do not consider physical interactions between mobile nodes. A novel group handover scheme is proposed which allows for the simultaneous handover of a group of nodes. Both the individual and the group handover are modeled as discrete-time Markov chains. Based on these models expressions for the stochastic handover delay are derived. The results are numerically evaluated in a vehicle platooning scenario. The group handover is shown to significantly reduce the handover delay in comparison to the individual handover. Furthermore, the group handover is shown to scale well when the number of vehicles increases. These improvements are shown to come at the cost of an increased messaging overhead.
|
|
| 10. |
- Zhang, Kuize, et al.
(författare)
-
Long-term behavior of cross-dimensional linear dynamical systems
- 2018
-
Ingår i: 2018 37th Chinese Control Conference (CCC). - : Institute of Electrical and Electronics Engineers (IEEE). - 9789881563958 ; , s. 158-163
-
Konferensbidrag (refereegranskat)abstract
- Let M and V denote the sets of finite-dimensional matrices and finite-dimensional column vectors, respectively. Based on the semitensor product and the vector addition, M and V both form a monoid, where V is commutative. In addition, based on an equivalence relation. on V, the induced quotient space V/<-> forms a vector space. In this paper, we give a basis for the vector space V/<->, showing that V/<-> is of countably infinite dimension. In addition, we give an explicit characterization for how the dimension of a vector in V changes caused by the repetitive actions of a matrix in M on the vector, and characterize the generalized inverse behavior of the repetitive actions.
|
|
