1,721,053 research outputs found
Learning Piecewise ARX Models via Regression Trees with Probabilistic Guarantees
No full textRecent research literature shows that system identification techniques can be successfully combined with machine learning to improve the accuracy of the models obtained. In this context, the contribution of this work builds upon a research line that combines the Regression Trees method with AutoRegressive eXogenous identification to derive models of dynamical systems exploiting historical data. The main contribution of this paper is to formally relate such methodology with the scenario approach framework, thus providing probabilistic guarantees on the derived model. The proposed method is validated on a real experimental setup: first a comparison in terms of accuracy with the former method - which does not provide probabilistic guarantees - is provided, then the effectiveness of the derived probabilistic guarantees is validated on the testing dataset from our experimental setup
Robust Linear Quadratic Regulation Over Polytopic Time-Inhomogeneous Markovian Channels Under Generalized Packet Dropout Compensation
Full text linkThis 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
Optimal control over Markovian wireless communication channels under generalized packet dropout compensation
Full text linkControl loops closed over wireless links greatly benefit from accurate estimates of the communication channel condition. To this end, the finite-state Markov channel model allows for reliable channel state estimation. This paper develops a Markov jump linear system representation for wireless networked control with persistent channel state observation, stochastic message losses, and generalized packet dropout compensation. With this model, we solve the finite- and infinite-horizon linear quadratic regulation problems and introduce an easy-to-test stability condition for any given infinite-horizon control law. We also thoroughly analyze the impact of a scalar general dropout compensation factor on the stability and closed-loop performance of a rotary inverted pendulum controlled remotely through a wireless link. Finally, we validate the results numerically via extensive Monte Carlo simulations, showing the benefits of the proposed control strategy
Wireless Control With Channel State Detection and Message Dropout Compensation
Full text linkThis letter presents a framework for designing optimal state-feedback control that uses a wireless actuation link with imperfect channel state information to transfer the current and future control inputs that actuators can apply if future control messages are lost. The dropout compensation strategy supports scaling inputs to actuators when necessary. We analytically solve finite- and infinite-horizon control problems and present a necessary and sufficient stability condition for any given infinite-horizon state-feedback control law. We validate the results using an illustrative example
Dynamical Power Optimization by Decentralized Routing Control in Multi-Hop Wireless Control Networks
No full text"We propose a mathematical and simulative framework for dynamic routing control in order to minimize power consumption objectives, which is compliant with the WirelessHART specification for multi-hop wireless control networks. To achieve this goal we propose the use of a decentralized optimization algorithm, which will be proved to be robust with respect to time-varying transmission channels and to node failures.
Link Failure Detection in Multi-hop Control Networks
No full textA Multi-hop Control Network (MCN) consists of a plant where the communication between sensors, actuators and computational unit is supported by a wireless multi-hop communication network, and data flow is performed using scheduling and routing of sensing and actuation data. We characterize the problem of detecting the failure of links of the radio connectivity graph and provide necessary and sufficient conditions on the plant dynamics and on the communication protocol. We also provide a methodology to explicitly design the network topology, scheduling and routing of a communication protocol in order to satisfy the above conditions
Data driven finite abstractions by simulation relations with probabilistic guarantees using regression trees
No full textIn this paper we propose a novel methodology to construct, given trajectories measured from a dynamical system, a finite abstraction by means of a transition system. We prove that our abstraction is a simulation of the original dynamical system, providing quantified probabilistic guarantees derived using the scenario approach. We test our methodology on a benchmark on hybrid systems showing that it strongly reduces the cardinality of the abstraction states with respect to a uniform grid, and is thus very promising for handling abstractions of large dimensional systems
Resilient stabilization of Multi-Hop Control Networks subject to malicious attacks
No full textA Multi-hop Control Network (MCN) consists of a dynamical system where the communication between sensors, actuators and computational units is supported by a (wireless) multi-hop communication network and data flow is performed using scheduling and routing of sensing and actuation data. Secure stabilization of an MCN is a challenging open problem tightly related to Cyber-Physical Systems security. In this paper we address the co-design problem of controller and communication protocol of an MCN where the plant is a MIMO LTI system and the communication nodes are subject to failures and malicious attacks. We first characterize by means of necessary and sufficient conditions the set of network configurations that invalidate controllability and observability of the plant. Then, we investigate the problem of detecting and isolating failures and malicious attacks to communication nodes. We provide necessary and sufficient conditions for the solvability of this problem
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